track fusion matlab,Track-to-Track Fusion

Fuser Management

Fuser Index — Unique index for track fuser

1 (default) | positive integer

Unique index for the fuser, specified as a positive integer. Use this property to

distinguish different fusers in a multiple-fuser environment.

Example:

2

Assignment algorithm name — Assignment algorithm

MatchPairs (default) | Munkres | Jonker-Volgenant | Auction | Custom

Assignment algorithm, specified as MatchPairs,

Munkres, Jonker-Volgenant,

Auction, or Custom. Munkres is the only

assignment algorithm that guarantees an optimal solution, but it is also the slowest,

especially for large numbers of detections and tracks. The other algorithms do not

guarantee an optimal solution but can be faster for problems with 20 or more tracks and

detections. Use Custom to define your own assignment function and

specify its name in the Name of 'Custom' assignment function

parameter.

Data Types:char

Name of 'Custom' assignment function — Name of 'Custom' assignment function

string | function handle

Name of 'Custom' assignment function, specified as a string or function handle. An

assignment function must have the following

syntax:

[assignments,unassignedCentral,unassignedLocal] = f(cost,costNonAssignment)For

an example of an assignment function and a description of its arguments, see assignmunkres.

Dependencies

To enable this property, set the Assignment algorithm name

parameter to Custom.

Threshold for assigning source to central tracks — Threshold for assigning source to central tracks

[1 Inf]*30.0 (default) | positive scalar | 1-by-2 vector of positive values

Threshold for assigning source to central tracks, specified as a positive scalar or

a 1-by-2 vector of form [C1

C2], where

C1 ≤

C2. If specified as a scalar, the specified

value, val, is expanded to [val

Inf].

Initially, the fuser executes a coarse estimation for the normalized distance

between all the source and central tracks. The fuser only calculates the accurate

normalized distance for the source and central combinations whose coarse normalized

distance is less than C2. Also, the fuser can

only assign a local track to a central track if their accurate normalized distance is

less than C1. See the distance

function used with tracking filters for an explanation of the distance

calculation.

Tip

Increase the value of C2 if there

are combinations of source and central tracks that should be calculated for

assignment but are not. Decrease it if the calculation takes too much time.

Increase the value of C1 if there

are source tracks that should be assigned to central tracks but are not. Decrease

it if there are local tracks that are assigned to central tracks they should not

be assigned to (too far away).

Maximum number of central tracks — Maximum number of central tracks

100 (default) | positive integer

Maximum number of central tracks that the tracker can maintain, specified as a

positive integer.

Maximum number of source configurations — Maximum number of source configurations

20 (default) | positive integer

Maximum number of source configurations that the fuser can maintain, specified as a

positive integer.

Source configurations — Configuration of source systems

struct('SourceIndex',1) (default) | array of source configuration structures

Configuration of source systems, specified as an array of source configuration

structures. The fields of a source configuration structure are:

Field NameDescriptionSourceIndexUnique index for the source system, specified as a positive integer.

IsInternalSourceIndicate if the source is internal to the fuser, specified as

true or false. An internal source is a

source that the fuser directly fuses tracks from even if the tracks are not

self reported. For example, if the fuser is at the vehicle level, a tracking

radar installed on the associated vehicle is considered internal, while

another vehicle that reports fused tracks is considered external.

IsInitializingCentralTracksIndicate if the source can initialize a central track in the fuser,

specified as true or false. A central

track is a track maintained in the fuser.

LocalToCentralTransformFcnFunction to transform a track from local to central state space,

specified as a function handle. For example, @track(track)

performs no transformation.

CentralToLocalTransformFcnFunction to transform a track from central to local state space,

specified as a function handle. For example, @track(track)

performs no transformation.

Update source configurations with time — Update source configurations with time

off (default) | on

Select this parameter to enable the input of source configurations through the

Source configurations input port.

Track state parameters — Parameters of track state reference frame

structure | structure array

Parameters of the track state reference frame, specified as a

structure or a structure array. The block passes the value of

this parameter to the StateParameters field

of the generated tracks. You can use these parameters to define

the reference frame in which the track is reported or other

desirable attributes of the generated tracks.

For example, you can use the following structure to define a

rectangular reference frame whose origin position is at

[10 10 0] meters and whose origin

velocity is [2 -2 0] meters per second with

respect to the scenario frame.

Field NameValueFrame"Rectangular"

Position[10 10 0]

Velocity[2 -2 0]

You can update the track state parameters through the State

Parameters input port by selecting the

Update track state parameters with

time parameter.

Data Types:struct

Update track state parameters with time — Update track state parameters with time

off (default) | on

Select this parameter to enable the input port for track state parameters through the

State Parameters input port.

Simulate using — Type of simulation to run

Interpreted execution (default) | Code Generation

Select a simulation type from these options:

Interpreted execution — Simulate the model using the MATLAB interpreter. This option shortens startup time. In Interpreted execution mode, you can debug the source code of the block.

Code generation — Simulate the model using generated C code. The first time you run a simulation, Simulink generates C code for the block. The C code is reused for subsequent simulations as long as the model does not change. This option requires additional startup time.Tracks

Confirmation threshold [M N] — Threshold for central track confirmation

[2 3]

(default) | positive integer | real-valued 1-by-2 vector of positive integers

Threshold for central track confirmation, specified as a positive integer,

M, or a real-valued 1-by-2 vector of positive integers,

[M

N]. A central track is confirmed if it is assigned to local tracks at

least M times in the last N updates. If specified

as a positive integer, M, the confirmation threshold is expanded to

[M

M].

Deletion threshold [P Q] — Threshold for central track deletion

[5 5]

(default) | positive integer | real-valued 1-by-2 vector of positive integers

Threshold for central track deletion, specified as a positive integer,

P, or a 1-by-2 vector of positive integers [P

Q] with P

≤

Q. A central track is deleted if the track is not assigned to local

tracks at least P times in the last Q updates. If

specified a positive integer P, the confirmation threshold is

expanded to [P

P].

Central track state size — Central track state size

6

(default) | positive integer

Central track state size, specified as a positive integer.

Central track object attributes — Central track object attributes

struct

(default) | structure

Central track object attributes, specified as a structure. The tracker passes the

value of this parameter to the ObjectAttributes field of the track

output.

State transition function — State transition function

constvel

(default) | function handle | string

State transition function, specified as a function handle or a string. This function

calculates the state at time step k based on the state at time step

k–1.

If the Enable additive process noise parameter on the

Tracks tab is enabled, the function must use the following syntax:

x(k) = f(x(k-1),dt)where:

x(k) — The estimated state at time

k, specified as a vector or a matrix. If specified as a

matrix, then each column of the matrix represents one state vector.

dt — The time step for prediction.

If the Enable additive process noise parameter on the

Tracks tab is not enabled, the function must use this syntax:

x(k) = f(x(k-1),w(k-1),dt)where:

x(k) — The estimated state at time

k, specified as a vector or a matrix. If specified as a

matrix, then each column of the matrix represents one state vector.

w(k) — The process noise at time

k.

dt — The time step for prediction.

Example:@constacc

State transition Jacobian function — State transition Jacobian function

function handle | string

Jacobian of the state transition function, specified as a function handle or a

string. If not specified, the Jacobian is numerically computed, which may increase

processing time and numerical inaccuracy. If specified, the function must support one of

these two syntaxes:

If the Enable additive process noise parameter on the

Tracks tab is enabled, the function must use this syntax:

Jx(k) = statejacobianfcn(x(k),dt)where:

x(k) — The estimated state at time

k, specified as an M-by-1 vector of

real values.

dt — The time step for prediction.

Jx(k) — The Jacobian of the state transition function

with respect to the state, df/dx, evaluated at

x(k). The Jacobian is returned as an

M-by-M matrix.

If the Enable additive process noise parameter on the

Tracks tab is not enabled, the function must use this syntax::

[Jx(k),Jw(k)] = statejacobianfcn(x(k),w(k),dt)where:

x(k) — The (estimated) state at time

k, specified as an M-by-1 vector of

real values.

w(k) — The process noise at time

k, specified as a W-by-1 vector of

real values.

dt — The time step for prediction.

Jx(k) — The Jacobian of the state transition function

with respect to the state, df/dx, evaluated at

x(k). The Jacobian is returned as an

M-by-M matrix.

Jw(k) — The Jacobian of the state transition function

with respect to the process noise, df/dw, evaluated at

x(k) and w(k). The Jacobian is

returned as an M-by-W matrix.

Example:@constaccjac

Process noise matrix — Process noise matrix

eye(3) (default) | positive real scalar | positive definite matrix

Process noise covariance matrix, specified as a positive real scalar or a positive

definite matrix.

When the Enable additive process noise parameter on the

Tracks tab is enabled, specify the process noise covariance

as a positive real scalar or a positive definite

M-by-M matrix. M is the

dimension of the state vector. When specified as a scalar, the matrix is an

M-by-M diagonal matrix with each diagonal

element equal to the scalar.

When the Enable additive process noise parameter on the

Tracks tab is not enabled, specify the process noise

covariance as a W-by-W matrix.

W is the dimension of the process noise vector.

Example:[1.0 0.05; 0.05 2]

Enable additive process noise — Enable additive process noise

off (default) | on

Enable additive process noise, specified as on or

off. When it is on, process noise is added to

the state vector. Otherwise, noise is incorporated into the state transition

function.Fusion

State fusion function — State fusion function

Cross (default) | Intersection | Custom

State fusion function, specified as one of those options:

Cross — Uses the cross-covariance fusion algorithm

Intersection — Uses the covariance intersection fusion

algorithm

Custom — Enables you to specify a customized fusion

function using the Name of 'Custom' fusion function

parameter

Use the State fusion parameters source parameter to specify

additional parameters used by the state fusion algorithm.

Name of 'Custom' fusion function — Name of custom assignment function

string | function handle

Name of custom assignment function, specified as a string or function handle.

The state fusion function must support one of the following syntaxes:

[fusedState,fusedCov] = f(trackState,trackCov)

[fusedState,fusedCov] = f(trackState,trackCov,fuseParams)where:

trackState is specified as an

N-by-M matrix. N is the

dimension of the track state, and M is the number of tracks.

trackCov is specified as an

N-by-N-by-M matrix.

N is the dimension of the track state, and

M is the number of tracks.

fuseParams is the optional parameters defined in the

State fusion parameters source parameter.

fusedState is returned as an N-by-1

vector.

fusedCov is returned as an

N-by-N matrix.

Dependencies

To enable this property, set the State fusion function

parameter to Custom.

State fusion parameters source — State fusion parameters source

Auto (default) | Property

State fusion parameters source, specified as one of these options:

Auto — The block uses the default value fusion

parameters for each sate fusion algorithm. See Cross covariance

factor, Optimize covariance based on, and

State fusion custom algorithm parameters for more

details.

Property — Set state fusion parameters using

Cross covariance factor parameter when

State fusion function is selected as

Cross.

Optimize covariance based on parameter when

State fusion function is selected as

Intersection.

State fusion custom algorithm parameters parameter

when State fusion function is selected as

Custom.

Cross covariance factor — Cross covariance factor

0.4 (default) | scalar in range (0,1)

Cross covariance factor, specified as a scalar in the range (0,1). See fusexcov

for more details.

Optimize covariance based on — Intersection algorithm criteria

det (default) | trace

Intersection algorithm criteria, specified as det or

trace. See fusecovint

for more details.

State fusion custom algorithm parameters — State fusion custom algorithm parameters

MATLAB variable

State fusion custom algorithm parameters, specified in any variable type, as long as

it matches the setup of the optional fuseParams input of the custom

state fusion function, specified in the Name of 'Custom' assignment

function parameter.

Fuse only confirmed source tracks — Fuse only confirmed source tracks

on (default) | off

Fuse only confirmed source tracks, specified as on or

off. Set this parameter to off if you want to

fuse all source tracks regardless of their confirmation status.

Fuse coasted source tracks — Fuse only confirmed source tracks

off (default) | on

Fuse coasted source tracks, specified as off or

on. Set this parameter to on if you want to fuse

coasted source tracks. Set it to off if you want to only fuse source

tracks that are not coasted.Port Setting

Prediction time source — Source of prediction time

Auto (default) | Input port

Source for prediction time, specified as Input port or

Auto. Select Input port to input

an update time by using the Prediction Time input port. Otherwise,

the simulation clock managed by Simulink determines the update time.

Enable tentative tracks output — Enable output port for tentative tracks

off (default) | on

Select this parameter to enable the output of tentative tracks through the

Tentative Tracks output port.

Enable all tracks output — Enable output port for all tracks

off (default) | on

Select this parameter to enable the output of all the tracks through the

All Tracks output port.

Enable information output — Enable output port for analysis information

off (default) | on

Select this parameter to enable the output port for analysis information through the

Info output port.

Source of output bus name — Source of output track bus name

Auto (default) | Property

Source of the output track bus name, specified as:

Auto — The block automatically creates an output

track bus name.

Property — Specify the output track bus name by

using the Specify an output bus name parameter.

Source of output info bus name — Source of output info bus name

Auto (default) | Property

Source of the output info bus name, specified as one of these options:

Auto — The block automatically creates an output

info bus name.

Property — Specify the output info bus name by

using the Fuser info bus name parameter.