UAV Scenario Configuration

Configure and simulate UAV scenarios

Since R2021b

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Libraries:
UAV Toolbox / UAV Scenario and Sensor Modeling

Description

This block allows you to import a uavScenarioobject and simulate the scenario. This block must be in a model that contains a UAV Scenario Lidar and Motion blocks in order to test perception, control, and planning algorithms with data from a uavScenario environment. Models with a UAV Scenario can only use one UAV Scenario Configuration block at a time and is not intended to be used in a cross-model workflow. In a UAV scenario, this block must be executed before other UAV Scenario blocks. Update the UAV Scenario Configuration block with the Refresh button and click Apply to reflect any changes made to the imported uavScenario in MATLAB^®.

This block internally stores motion states from platforms and sensors in a global data store memory block as buses within a bus with a name specified in the Scenario motion bus name parameter. The bus contains the following fields:

• NumPlatforms — Number of UAV platforms in the scenario stored as a scalar.

• Time — Simulation time associated with the motion state stored as a scalar.

• Platforms — Bus array with name specified in the Platform motion bus name parameter containing all platforms in the UAV Scenario with each of the following fields:

  • PlatformID — ID of platform based on order of platforms in the uavScenario.Platforms Property.

  • Position — Position in NED frame specified as a 1-by-3 vector.

  • Orientation — Orientation in NED frame specified as a 1-by-4 vector, quaternion, frame rotation from NED frame to UAV body frame.

  • Velocity — Velocity in NED frame specified as a 1-by-3 vector.

  • Acceleration — Acceleration in NED frame specified as a 1-by-3 vector.

  • AngularVelocity — Angular velocity in NED frame specified as a 1-by-3 vector.

Examples

Simulate UAV Scenario Using Scenario Blocks

Use the UAV scenario blocks to simulate a scenario in Simulink®.

• Open Live Script

Limitations

The UAV Scenario blocks do not support:

• Code generation

• Model reference

• Multiple instances of the UAV Scenario Configuration block

• Rapid acceleration mode

In addition, the execution order is important when using these blocks in a closed loop simulation. The UAV Scenario Configuration block must execute first. The UAV Scenario Motion Write block must execute before the UAV Scenario Motion Read, UAV Scenario Lidar, and UAV Scenario Scope blocks.

Parameters

Main

MATLAB or model workspace variable name — MATLAB or model workspace variable name

'singleUAVScenario' (default) | string

Specify uavScenario object to import from the MATLAB or model workspace, specified by variable name as a string. Click Refresh to reload the scenario from the uavScenario object.

Sample time — Sample time

0.1 (default) | positive double

Specify sample time of the UAV scenario in seconds. This block only supports discrete sample time.

Scenario Bus and Signal Names

Sensor motion bus name — Sensor motion bus name

'SensorMotionBus' (default) | string

Specify the name of the sensor motion bus type as a string. Sensor motion read by the UAV Scenario Motion Read uses a bus object with the specified name.

Platform motion bus name — Platform motion bus name

'PlatformMotionBus' (default) | string

Specify the name of the platform motion bus type as a string. Platform motion read and written by the UAV Scenario Motion Read and UAV Scenario Motion Write respectively will use a bus object with the specified name.

Scenario motion bus name — Scenario motion bus name

'SensorMotionBus' (default) | string

Specify the name of the scenario motion bus type as a string. This bus type is used by the UAV Scenario Configuration block to store the motion data of all the platforms and sensors within the UAV Scenario.

Scenario motion signal name — Scenario motion signal name

'ScenarioMotions' (default) | string

Specify the name of the scenario motion bus signal as a string. This is the name used for the Data Store Read block that stores the data for the UAV Scenario.

Version History

Introduced in R2021b