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⛄ 内容介绍
本文建立了基于 MATLAB 的预警雷达探测模型, 根据雷达和目标的运动参数和雷达系统参数, 模拟和动态显示预警雷达的探测性能; 并对其探测性能进行仿真验证.研究表明, 该方法能够有效仿真预警雷达的探测性能,具有良好的人机交互动态可视化功能.
⛄ 部分代码
else
sensorIDs = cellfun(@(d)d.SensorIndex,dets);
end
numDets = numel(sensorIDs);
iPlats = zeros(numDets,1);
uSensorIDs = unique(sensorIDs);
iSensorPlats = findPlatforms(scene);
for m = 1:numel(uSensorIDs)
thisID = uSensorIDs(m);
usePlatIdx = -1;
for k = 1:numel(iSensorPlats)
idxPlat = iSensorPlats(k);
thisPlat = scene.Platforms{idxPlat};
foundSensor = false;
for j = 1:numel(thisPlat.Sensors)
thisSensor = thisPlat.Sensors{j};
if thisSensor.SensorIndex == thisID
foundSensor = true;
break
end
end
if foundSensor
usePlatIdx = idxPlat;
break
end
end
if usePlatIdx>0
iFnd = sensorIDs == thisID;
iPlats(iFnd) = usePlatIdx;
end
end
end
function [str,type] = platformName(~)
str = 'Tower';
type = 'DisplayName';
end
function [str,type] = detectionsName(~)
str = 'Radar detections';
type = 'DisplayName';
end
function val = localGetVal(thing, idx)
% Indexing that supports either cell or non-cell arrays
if iscell(thing)
val = thing{idx};
else
val = thing(idx);
end
end
function flag = isPublishing()
% Returns true when MATLAB is publishing
flag = ~isempty(snapnow('get'));
end
function writeAnimatedGIF(fname, frames, numFrames, rate, loopCount)
dt = 1/rate;
if isstruct(frames)
% pFrames is set to getframe(h) frames
for m = 1:numFrames
im = frame2im(frames(m));
[A,map] = rgb2ind(im,256);
if m == 1
imwrite(A,map,fname,'gif','LoopCount',loopCount,'DelayTime',dt);
else
imwrite(A,map,fname,'gif','WriteMode','append','DelayTime',dt);
end
end
else
% pFrames is set to RGB images such as are returned
% by print('-RGBImage','-opengl','-r0')
for m = 1:numFrames
im = frames(:,:,:,m);
[A,map] = rgb2ind(im,256);
if m == 1
imwrite(A,map,fname,'gif','LoopCount',loopCount,'DelayTime',dt);
else
imwrite(A,map,fname,'gif','WriteMode','append','DelayTime',dt);
end
end
end
end
function localWriteVideo(fname, frames, numFrames, rate, profile)
vid = VideoWriter(fname,profile);
vid.FrameRate = rate;
open(vid);
if isstruct(frames)
% pFrames is set to getframe(h) frames
for m = 1:numFrames
writeVideo(vid,frames(m));
end
else
% pFrames is set to RGB images such as are returned
% by print('-RGBImage','-opengl','-r0')
writeVideo(vid,frames(:,:,:,1:numFrames));
end
close(vid);
end
function [clrs,comps] = getColors(nClrs)
% Compute a set of unique colors whose complementary colors will also be
% unique colors
hsv = ones(nClrs,3);
hsv(:,3) = 1;
tmp = linspace(0,0.45,nClrs+1);
hsv(:,1) = tmp(1:nClrs);
clrs = hsv2rgb(hsv);
if nargout>1
comps = getComplementaryColors(clrs);
end
end
function comps = getComplementaryColors(clrs)
% Compute complementary colors from set of colors
hsv = rgb2hsv(clrs);
hsv(:,1) = mod(hsv(:,1)+0.5,1);
comps = hsv2rgb(hsv);
end
function txSig = findEmittingSignal(thisSig,signals)
isTx = isTXSignals(signals);
txSignals = signals(isTx);
numTx = numel(txSignals);
txPos = zeros(3,numTx);
txVel = zeros(3,numTx);
for m = 1:numTx
txPos(:,m) = txSignals(m).OriginPosition;
txVel(:,m) = txSignals(m).OriginVelocity;
end
txDir = thisSig.OriginPosition(:)-txPos;
relVel = thisSig.OriginVelocity(:)-txVel;
rgs = sqrt(sum(abs(txDir).^2,1));
txDir = txDir./rgs;
rrs = dot(relVel,txDir,1);
errRg = rgs-thisSig.PropagationRange;
errRR = rrs-thisSig.PropagationRangeRate;
[~,iMin] = min(abs(errRg)+abs(errRR));
txSig = txSignals(iMin);
end
function [thisPlat, thisSystem] = findSystem(plats,type,ID)
thisPlat = [];
thisSystem = [];
if contains('Sensor',type,'IgnoreCase',true)
propName = 'Sensors';
idName = 'SensorIndex';
else
propName = 'Emitters';
idName = 'EmitterIndex';
end
numPlats = numel(plats);
wasFound = false;
for iPlat = 1:numPlats
thisPlat = plats{iPlat};
theseSystems = thisPlat.(propName);
for iSys = 1:numel(theseSystems)
thisSystem = theseSystems{iSys};
if thisSystem.(idName) == ID
wasFound = true;
break
end
end
if wasFound
break
end
end
end
function setupChaseGraphics(hAxes)
% setup axes
hAxes.DataAspectRatio = [1 1 1];
hAxes.Projection = 'perspective';
hAxes.CameraViewAngle = 30;
axis(hAxes,'vis3d');
% axis(hAxes,'off');
% Use camera zoom style
z = zoom(hAxes);
z.setAxes3DPanAndZoomStyle(hAxes,'camera');
shrinkZLimits([], hAxes);
end
function updateChaseCamera(hAxes,plat,system)
% set camera position
dims = plat.Dimensions;
fov = system.FieldOfView;
% get system mounting location and orientation
mntLoc = system.MountingLocation(:);
mntAng = system.MountingAngles;
mntRot = rotmat(quaternion(mntAng,'eulerd','zyx','frame'),'frame');
% get system look angle
lkAng = zeros(1,2); % [az el]
numAng = numel(system.LookAngle);
lkAng(1:numAng) = system.LookAngle;
lkRot = rotmat(quaternion([lkAng(1) -lkAng(2) 0],'eulerd','zyx','frame'),'frame');
R = lkRot*mntRot;
plat = pose(plat);
platRot = plat.Orientation;
if isa(platRot,'quaternion')
platRot = rotmat(platRot,'frame');
end
R = R*platRot;
T = plat.Position(:)+mntLoc;
viewHt = 3/2 * dims.Height;
viewLoc = [-5/2 * dims.Length 0]';
cp = R'*[viewLoc; viewHt] + T;
% % translate ego mounting orientation it to scenario orientation
% yaw = 0;
% pitch = 0;
% roll = 0;
% cR = R*rotmat(quaternion([yaw pitch roll],'eulerd','zyx','frame'),'frame');
cR = R;
ct = cR(1,:)' + cp;
cu = cR(3,:)';
% hAxes.CameraPosition = cp;
% hAxes.CameraTarget = ct;
% hAxes.CameraUpVector = -cu;
% set(hAxes, ...
% 'DataAspectRatio', [1 1 1], ...
% 'Projection', 'perspective', ...
% 'CameraViewAngle', fov(1));
set(hAxes, 'CameraPosition', cp, ...
'CameraTarget', ct, ...
'CameraUpVector', -cu, ...
'DataAspectRatio', [1 1 1], ...
'Projection', 'perspective', ...
'CameraViewAngle', fov(1));
end
function shrinkZLimits(rt, hAxes)
set(hAxes, ...
'XLimMode','auto', ...
'YLimMode','auto', ...
'ZLimMode','auto', ...
'CameraPositionMode','auto', ...
'CameraTargetMode','auto', ...
'CameraUpVectorMode','auto', ...
'CameraViewAngleMode','auto');
% keep z limits within 10 m of vertical range of all road tiles
if ~isempty(rt)
minZ = Inf;
maxZ = -Inf;
for iTile=1:numel(rt)
if rt(iTile).TileID>0
minZi = min(rt(iTile).Vertices(:,3));
maxZi = max(rt(iTile).Vertices(:,3));
minZ = min(minZi, minZ);
maxZ = max(maxZi, maxZ);
end
end
camP = hAxes.CameraPosition;
camT = hAxes.CameraTarget;
camU = hAxes.CameraUpVector;
hAxes.DataAspectRatio = [1 1 1];
xLim = hAxes.XLim;
yLim = hAxes.YLim;
set(hAxes,'XLim',xLim,'YLim',yLim,'ZLim',10*[minZ/10 1+floor(maxZ/10)], ...
'CameraPosition',camP,'CameraTarget',camT,'CameraUpVector',camU);
view(hAxes, -90,90);
end
end
function dur = sceneDuration(scene)
dur = inf;
for iPlat = 1:numel(scene.Platforms)
traj = scene.Platforms{iPlat}.Trajectory;
if isa(traj,'waypointTrajectory')
dur = min(max(traj.TimeOfArrival),dur);
end
end
end
function hfig = createFigure()
hfig = figure;
scale = 0.5;
pos = hfig.Position;
width = pos(3);
height = pos(4);
adjWidth = scale*width;
adjHeight = scale*height;
hfig.Position = pos+[-adjWidth/2 -adjHeight adjWidth adjHeight];
hfig.Units = 'normalized';
end
⛄ 运行结果
⛄ 参考文献
[1]熊军, 行小帅, 张清泉,等. 基于MATLAB的雷达目标测量仿真分析[J]. 海南师范大学学报：自然科学版, 2014, 27(3):4.
