updateSensors

Update sensor readings in UAV scenario

Syntax

updateSensors(scene)

Description

updateSensors(scene) updates all sensor readings based on latest states of all platforms in the UAV scenario, scene.

Examples

Create and Simulate UAV Scenario

Create a UAV scenario, and specify the update rate, stop time, and reference location.

scene = uavScenario(UpdateRate=200,StopTime=2,ReferenceLocation=[46, 42, 0]); 

Add an inertial frame MAP to the scenario.

addInertialFrame(scene,"ENU","MAP",trvec2tform([1 0 0])); 

Add one ground mesh and two cylindrical obstacle meshes to the scenario.

addMesh(scene,"Polygon",{[-100 0; 100 0; 100 100; -100 100],[-5 0]},[0.3 0.3 0.3]);
addMesh(scene,"Cylinder",{[20 10 10],[0 30]},[0 1 0]); 
addMesh(scene,"Cylinder",{[46 42 5],[0 20]},[0 1 0],UseLatLon=true); 

Add a UAV platform with a specified waypoint trajectory to the scenario.

traj = waypointTrajectory(Waypoints=[0 -20 -5; 20 -20 -5; 20 0 -5],TimeOfArrival=[0 1 2]); 
uavPlat = uavPlatform("UAV",scene,Trajectory=traj); 

Add a mesh to the UAV platform.

updateMesh(uavPlat,"quadrotor",{4},[1 0 0],eul2tform([0 0 pi])); 
addGeoFence(uavPlat,"Polygon",{[-50 0;50 0;50 50;-50 50],[0 100]},true,ReferenceFrame="ENU"); 

Attach an INS sensor to the UAV platform.

insModel = insSensor; 
ins = uavSensor("INS",uavPlat,insModel,MountingLocation=[4 0 0]); 

Visualize the scenario in 3D.

ax = show3D(scene); 
axis(ax,"equal"); 

Set up and start the scenario.

% Set up scenario
setup(scene); 

% Start scenario
while advance(scene) 
    % Update sensor readings 
    updateSensors(scene); 
    
    % Visualize the scenario 
    show3D(scene,"Parent",ax,"FastUpdate",true); 
    drawnow limitrate 
end 

Input Arguments

scene — UAV scenario

uavScenario object

UAV scenario, specified as a uavScenario object.

Version History

Introduced in R2020b