EMA3100A Target Motion Simulator User Guide - Chap5-Target Tracking Projects
0 likes169 views
The document describes the process for creating and running target tracking projects using EMA3100A Target Motion Simulator software. It involves 8 main stages: 1) selecting the project type, 2) defining and configuring targets, 3) defining sensor measurement models, 4) defining missing data models, 5) defining trajectories, 6) combining trajectories, 7) checking configuration consistency, and 8) running the simulation with graphical outputs. Specific steps are outlined for setting up 2D and 3D Cartesian target tracking projects, including adding and configuring targets, loading trajectory files, running configuration checks, and using the simulation panel and graph panel to view results.
EMA3100A Target Motion Simulator User Guide - Chap5-Target Tracking Projects
- 1. CHAPTER 5 Target Tracking Projects 5.1. Overview EMA3100A Target Motion Simulator, Target Tracking Projects (TTP) consist of mainly eight basic stages; Selecting Project Type Defining and Configuring Targets Defining Sensor Measurement Models Defining Missing Data Models Defining Trajectories, Trajectory Generating Functionals Combining created Paths forming the Trajectory Checking configuration for consistency Simulation Supported with Animated or Static SimPanel Graphical Outputs. 5.2. TTP Projects in 2D Cartesian Domain Target Tracking Project (TTP) creation in 2D Cartesian domain starts with selection of New project item from Project menu, which opens the New Project Creation dialog. (To create a new project select Project > New) New Project Creation form consists of fields for project name entry, Project Type selection and project Folder selection. After properly naming the project and selecting Target Tracking as Project Type, Project Folder can be chosen from existing directoriesfolders or a specific folder to hold project items can be created.
- 2. 56 Chapter 5 Target Tracking Projects Clicking OK opens the Project Data-TTP form, the form in which the coordinate system for intended project is selected, for 2D Target Tracking Projects the selection is “In 2D Cartesian Coordinates”, and by clicking Configure button the next dialog is Target Configuration-Cartesian Domain. (Select the first field “In 2D Cartesian Coordinates” and click Configure) Target Configuration is done by using left panel of the Target Configuration-Cartesian Domain form by using Add Target, Configure Target and Remove Target menu items shown by right clicking the mouse on respective item. The right pane of the form basically presents the entered data in Target Configuration editor.
- 3. 57 To add a target select first the Targets item on left pane by left click and then right clicking opens the context menu consisting of Add Target, Configure Target and Remove Target menu items, click Add Target, a new dialog Add New Target form appears, name the intended target by entering the appropriate target name and click Add, added target name appears on left pane under Targets), any number of targets can be added this way. (For the example case we created two targets Target1 and Target2)
- 4. 58 Chapter 5 Target Tracking Projects After adding targets, the next step is configuring them. Select target to be configured by left click, and then right clicking on selected target opens the context menu consisting of Add Target, Configure Target and Remove Target menu items, select Configure Target which opens the Target Configuration form. Target Configuration form is the editor which contains data entry blocks for Sampling Time, Activation Offset, Initial Position Offsets in x and y axis, Sensor Measurement Model, Missing Data Model and Trajectory File.
- 5. 59 Sampling Time – is the time between measurement samples measured and entered in seconds, defaults is 1sec and for extracting it from loaded file entry of -1 required Activation Offset – Assuming that time axis starts at t=0, activation offset defines the start of motion of the target on this time axis, default is zero Initial Position Offsets – If any offset or shift is needed in trajectory, that is entered via initial position offsets separately for all axes, default is zero Sensor Measurement Model – defines the statistical sensor measurement model characterized by second order moments, can be applied to all trajectory or framed sections or time blocks Missing Data Model - defines the statistical missing data model characterized by second order moments, can be applied to all trajectory or framed sections or time blocks Trajectory File – Can be created during the target configuration but most of the time load of previously created trajectory files are more favorable After doing configuration by respective entries of the fields clicking Save completes the configuration for selected target and closes the Target Configuration editor, Target Configuration-Cartesian Domain form displays the saved data for the selected target. In this example, we configured Target2 with 0.3sec sampling time, and with 0 activation offset, x=0,y=0 initial position offsets, model.smm and model.mdm sensor measurement model and missing data model respectively and saved the path as path2.pti at the designated directories. After completing configuration for all added targets, the next step is configuration consistency check, click Conf Check in Target Configuration-Cartesian Domain form to start configuration check, it opens a new form called as Configuration Check form.
- 6. 60 Chapter 5 Target Tracking Projects Configuration Check is performed for checking consistency of configuration and for possible configuration errors, produces necessary warning and error messages by going through all added targets, entered values and loaded files. After successful completion of Configuration Check, Configuration Check form closes automatically and a dialog prompt named Launch SimPanel asks for launching the Simulator, if OK button is clicked the SimPanel form appears (and the simulator starts running if Start button is clicked on SimPanel), if Cancel button is clicked then the Launch SimPanel dialog closes, in this case the simulator can be run later by clicking Launch SimPanel menu item from main menu by Simulator > Launch SimPanel.
- 7. 61 SimPanel consist of a Scenario Info panel, an Activity/Progress Monitor and Output Control panel used in selections for outputs. Scenario Info panel displays Project Name, Project Type, Number of Targets, Processed Points, Time Duration and Time Resolution. Project Name, Project Type and Number of Targets fields display the previously entered items, Processed Points, Time Duration and Time Resolution fields display the computed values by taking all targets into account, in other words the Simulator computes position and activation offsets, sampling times for all targets align different time frames construct a common time frame for all targets and based on this new time frame calculates positions, points processed for all targets, new time resolution in this new time frame and total time duration computed. Upon clicking Start button, the simulator starts running, performs necessary computations, displays the information related to current stage in Activity/Progress Monitor and automatically launch the GraphPanel (TMM-Cartesian 2D) GraphPanel (TMM-Cartesian 2D) form is the plot panel displaying the resultant plots and consist of a Menu bar and also a Selection Panel. Selection Panel consist of three sections as Items to Show, Type and Target to Show. Items to Show section allows selection of plots for True Motion Sensor Measurement Sensor Measurement with Missing Data and Type section allows selection of plot type as T-Static (showing static trajectory) T-Animated (showing animated trajectory) M-Animated (showing motion of target alone)
- 8. 62 Chapter 5 Target Tracking Projects Selection section consists of a target selection part and Refresh/Plot button, Export button and Close button. Target selection part is used for selecting the Target of which True Motion, Sensor Measurement or Sensor Measurement with Missing Data plots in T-Static, T-Animated or M-Animated type is plotted. After changing checked ıtems in Items to Show or Type panel or selected target clicking Refresh/Plot button refreshes the screen and displays the plot for most recent selections. To display the T-Static plot of Target1 True Motion, check True Motion, check T-Static, check Target1 and click Refresh/Plot. Similarly to display the static plot of Target2 True Motion, check True Motion, check T-Static, check Target2 and click Refresh/Plot.
- 9. 63 Similarly to display the T-Static plot of both Target1 and Target2 True Motion, check True Motion, check T-Static, check both Target1 and Target2 and click Refresh/Plot. To display Sensor Measurement outputs (based on Sensor Measurement model chosen) for Target1 and Target2, check Sensor Measurement, check T-Static, check both Target1 and Target2 and click Refresh/Plot.
- 10. 64 Chapter 5 Target Tracking Projects Similarly to display Sensor Measurements with Missing Data outputs (based on Sensor Measurement and Missing Data models chosen) for Target1 and Target2, check SM with Missing Data, check T-Static, check both Target1 and Target2 and click Refresh/Plot. Animated plots show the trajectory and motion selected by T-Animated and M-Animated, the first one shows creation of trajectory by displaying the points in time whereas the second displays the target as a moving point object while keeping trajectory as a light trace. To display T-Animated plot of True Motion for Target1 and Target2, check True Motion, check T- Animated, check both Target1 and Target2 and click Refresh/Plot.
- 11. 65 Similarly to display M-Animated plot of True Motion for Target1 and Target2, check True Motion, check M-Animated, check both Target1 and Target2 and click Refresh/Plot. Clicking Export on GraphPanel (TMM-Cartesian 2D) opens Save File dialog to select the location to save the graph plotted as Bitmap, JPEG or PNG images. Clicking Close, close the GraphPanel (TMM- Cartesian 2D).
- 12. 66 Chapter 5 Target Tracking Projects 5.3. TTP Projects in 3D Cartesian Domain Target Tracking Project (TTP) creation in 3D Cartesian domain starts with selection of New project item from Project menu, which opens the New Project Creation dialog. (To create a new project select Project > New) New Project Creation form consists of fields for project name entry, Project Type selection and project Folder selection. After properly naming the project and selecting Target Tracking as Project Type, Project Folder can be chosen from existing directoriesfolders or a specific folder to hold project items can be created.
- 13. 67 Clicking OK opens the Project Data-TTP form, the form in which the coordinate system for intended project is selected, for 3D Target Tracking Projects the selection is “In 3D Cartesian Coordinates”, and by clicking Configure button the next dialog is Target Configuration-Cartesian Domain. (Select the second field “In 3D Cartesian Coordinates” and click Configure) Target Configuration in 3D Cartesian domain is done by using left panel of the Target Configuration- Cartesian Domain form by using Add Target, Configure Target and Remove Target menu items shown by right clicking the mouse on respective item. The right pane of the form basically presents the entered data in Target Configuration editor.
- 14. 68 Chapter 5 Target Tracking Projects As in Cartesian Coordinate for 2D case, a similar procedure for addition of targets apply for 3D case, to add a target select first the Targets item on left pane by left click and then right clicking opens the context menu consisting of Add Target, Configure Target and Remove Target menu items, click Add Target, a new dialog Add New Target form appears, name the intended target by entering the appropriate target name and click Add, added target name appears on left pane under Targets). Any number of targets can be added this way. (For the example case we created two targets Target1 and Target2) After adding targets, the next step is configuring them. Select target to be configured by left click, and then right clicking on selected target opens the context menu consisting of Add Target, Configure Target and Remove Target menu items, select Configure Target which opens the Target Configuration form.Target Configuration form is same as in the Target Configuration form used in 2D Cartesian Coordinate projects, the editor which contains data entry blocks for Sampling Time, Activation Offset, Initial Position Offsets in x, y and z axis, Sensor Measurement Model, Missing Data Model and Trajectory File. Sampling Time – is the time between measurement samples measured and entered in seconds, defaults is 1sec and for extracting it from loaded file entry of -1 required Activation Offset – Assuming that time axis starts at t=0, activation offset defines the start of motion of the target on this time axis, default is zero Initial Position Offsets – If any offset or shift is needed in trajectory, that is entered via initial position offsets separately for all axes, default is zero Sensor Measurement Model – defines the statistical sensor measurement model characterized by second order moments, can be applied to all trajectory or framed sections or time blocks Missing Data Model - defines the statistical missing data model characterized by second order moments, can be applied to all trajectory or framed sections or time blocks Trajectory File – Can be created during the target configuration but most of the time load of previously created trajectory files are more favorable
- 15. 69 After doing configuration by respective entries of the fields clicking Save completes the configuration for selected target and closes the Target Configuration editor, Target Configuration-Cartesian Domain form displays the saved data for the selected target. In this example, we configured Target1 with 0.3sec sampling time, and with 0 activation offset, x=0,y=0,z=0 initial position offsets, model.smm and model.mdm sensor measurement model and missing data model respectively and saved the path as path1.pti at the designated directories. As in the case of Cartesian Coordinate 2D projects, for 3D projects a similar step follows after completing configuration for all added targets, the next step is configuration consistency check, click Conf Check in Target Configuration-Cartesian Domain form to start configuration check, it opens a new form called as Configuration Check form. Configuration Check is performed for checking consistency of configuration and for possible configuration errors, produces necessary warning and error messages by going through all added targets, entered values and loaded files.
- 16. 70 Chapter 5 Target Tracking Projects After successful completion of Configuration Check, Configuration Check form closes automatically and a dialog prompt named Launch SimPanel asks for launching the Simulator, if OK button is clicked the SimPanel form appears (and the simulator starts running if Start button is clicked on SimPanel), if Cancel button is clicked then the Launch SimPanel dialog closes, in this case the simulator can be run later by clicking Launch SimPanel menu item from main menu by Simulator > Launch SimPanel. SimPanel consist of a Scenario Info panel, an Activity/Progress Monitor and Output Control panel used in selections for outputs. Scenario Info panel displays Project Name, Project Type, Number of Targets, Processed Points, Time Duration and Time Resolution. Project Name, Project Type and Number of Targets fields display the previously entered items, Processed Points, Time Duration and Time Resolution fields display the computed values by taking all targets into account, in other words the Simulator computes position and activation offsets, sampling times for all targets align different time frames construct a common time frame for all targets and based on this new time frame calculates positions, points processed for all targets, new time resolution in this new time frame and total time duration computed. Upon clicking Start button, the simulator starts running, performs necessary computations, displays the information related to current stage in Activity/Progress Monitor and automatically launch the GraphPanel (TMM-Cartesian 3D) GraphPanel (TMM-Cartesian 3D) form is the plot panel displaying the resultant plots and consist of a Menu bar and also a Selection Panel. Selection Panel consist of three sections as Items to Show, Type and Target to Show. Items to Show section allows selection of plots for True Motion Sensor Measurement Sensor Measurement with Missing Data and Type section allows selection of plot type as T-Static (showing static trajectory) T-Animated (showing animated trajectory) M-Animated (showing motion of target alone)
- 17. 71 Selection section consists of a target selection part and Refresh/Plot button, Export button and Close button. Target selection part is used for selecting the Target of which True Motion, Sensor Measurement or Sensor Measurement with Missing Data plots in T-Static, T-Animated or M-Animated type is plotted. After changing checked ıtems in Items to Show or Type panel or selected target clicking Refresh/Plot button refreshes the screen and displays the plot for most recent selections. To display the static plot of Target1 True Motion, check True Motion, check T-Static, check Target1 and click Refresh/Plot Similarly to display the static plot of Target2 True Motion, check True Motion, check T-Static, check Target2 and click Refresh/Plot.
- 18. 72 Chapter 5 Target Tracking Projects Similarly to display the static plot of both Target1 and Target2 True Motion, check True Motion, check T-Static, check both Target1 and Target2 and click Refresh/Plot. To display Sensor Measurement outputs (based on Sensor Measurement model chosen) for Target1 and Target2, check Sensor Measurement, check T-Static, check both Target1 and Target2 and click Refresh/Plot.
- 19. 73 Similarly to display Sensor Measurements with Missing Data outputs (based on Sensor Measurement and Missing Data models chosen) for Target1 and Target2, check SM with Missing Data, check T-Static, check both Target1 and Target2 and click Refresh/Plot. Animated plots show the trajectory and motion selected by T-Animated and M-Animated, the first one shows creation of trajectory by displaying the points in time whereas the second displays the target as a moving point object while keeping trajectory as a light trace. To display T-Animated plot of True Motion for Target1, check True Motion, check T-Animated, check Target1 and click Refresh/Plot.
- 20. 74 Chapter 5 Target Tracking Projects Similarly to display M-Animated plot of True Motion for Target1 and Target2, check True Motion, check M-Animated, check both Target1 and Target2 and click Refresh/Plot. Clicking Export on GraphPanel (TMM-Cartesian 2D) opens Save File dialog to select the location to save the graph plotted as Bitmap, JPEG or PNG images. Clicking Close, close the GraphPanel (TMM- Cartesian 2D).
- 21. 75 5.4. TTP Projects in Polar Domain Target Tracking Project (TTP) creation Polar domain starts with selection of New project item from Project menu, which opens the New Project Creation dialog. (To create a new project select Project > New) New Project Creation form consists of fields for project name entry, Project Type selection and project Folder selection. After properly naming the project and selecting Target Tracking as Project Type, Project Folder can be chosen from existing directoriesfolders or a specific folder to hold project items can be created.
- 22. 76 Chapter 5 Target Tracking Projects Clicking OK opens the Project Data-TTP form, the form in which the coordinate system for intended project is selected, for Polar Domain Target Tracking Projects the selection depends on the polar coordinates as Range-Azimuth, Range-Elevation and Azimuth-Elevation, correspondingly the selection is one of “In Polar Coordinates (Range-Azimuth)”, In Polar Coordinates (Range-Elevation) or In Polar Coordinates (Azimuth-Elevation) , after selection clicking the Configure button opens the next dialog which is Target Configuration-Polar Domain. (Select the third, fourth or fifth as the proper field “In Polar Coordinates” and click Configure) Target Configuration in Polar domain is done by using left panel of the Target Configuration-Polar Domain form by using Add Target, Configure Target and Remove Target menu items shown by right clicking the mouse on respective item. The right pane of the form basically presents the entered data in Target Configuration editor.
- 23. 77 As in Cartesian Coordinate for 2D/3D cases, for projects in Polar domain a similar procedure for addition of targets apply, to add a target select first the Targets item on left pane by left click and then right clicking opens the context menu consisting of Add Target, Configure Target and Remove Target menu items, click Add Target, a new dialog Add New Target form appears, name the intended target by entering the appropriate target name and click Add, added target name appears on left pane under Targets),any number of targets can be added this way. (For the example case we created two targets Target1 and Target2) After adding targets, the next step is configuring them. Select target to be configured by left click, and then right clicking on selected target opens the context menu consisting of Add Target, Configure Target and Remove Target menu items, select Configure Target which opens the Target Configuration form. Target Configuration form is the editor which contains data entry blocks for Sampling Time, Activation
- 24. 78 Chapter 5 Target Tracking Projects Offset, Initial Position Offsets in range, azimuth and elevation coordinates, Sensor Measurement Model, Missing Data Model and Trajectory File. Sampling Time – is the time between measurement samples measured and entered in seconds, defaults is 1sec and for extracting it from loaded file entry of -1 required Activation Offset – Assuming that time axis starts at t=0, activation offset defines the start of motion of the target on this time axis, default is zero Initial Position Offsets – If any offset or shift is needed in trajectory, that is entered via initial position offsets separately for all axes, default is zero Sensor Measurement Model – defines the statistical sensor measurement model characterized by second order moments, can be applied to all trajectory or framed sections or time blocks Missing Data Model - defines the statistical missing data model characterized by second order moments, can be applied to all trajectory or framed sections or time blocks Trajectory File – Can be created during the target configuration but most of the time load of previously created trajectory files are more favorable After doing configuration by respective entries of the fields clicking Save completes the configuration for selected target and closes the Target Configuration editor, Target Configuration-Polar Domain form displays the saved data for the selected target.In this example, we configured Target1 with 0.3sec sampling time, and with 0 activation offset, range=0,elevation=0, azimuth=0 initial position offsets, model.smm and model.mdm sensor measurement model and missing data model respectively and saved the path as path1.pti at the designated directories. As in the case of Cartesian Coordinate 2D/3D projects, for Polar projects a similar step follows after completing configuration for all added targets, the next step is configuration consistency check, click Conf Check in Target Configuration-Polar Domain form to start configuration check, it opens a new form called as Configuration Check form. Configuration Check is performed for checking consistency of configuration and for possible configuration errors, produces necessary warning and error messages by going through all added targets, entered values and loaded files.
- 25. 79 After successful completion of Configuration Check, Configuration Check form closes automatically and a dialog prompt named Launch SimPanel asks for launching the Simulator, if OK button is clicked the SimPanel form appears (and the simulator starts running if Start button is clicked on SimPanel), if Cancel button is clicked then the Launch SimPanel dialog closes, in this case the simulator can be run later by clicking Launch SimPanel menu item from main menu by Simulator > Launch SimPanel. SimPanel consist of a Scenario Info panel, an Activity/Progress Monitor and Output Control panel used in selections for outputs. Scenario Info panel displays Project Name, Project Type, Number of Targets, Processed Points, Time Duration and Time Resolution. Project Name, Project Type and Number of Targets fields display the previously entered items, Processed Points, Time Duration and Time Resolution fields display the computed values by taking all targets into account, in other words the Simulator computes position and activation offsets, sampling times for all targets align different time frames construct a common time frame for all targets and based on this new time frame calculates positions, points processed for all targets, new time resolution in this new time frame and total time duration computed. Upon clicking Start button, the simulator starts running, performs necessary computations, displays the information related to current stage in Activity/Progress Monitor and automatically launch the GraphPanel (TMM-Polar) GraphPanel (TMM-Polar) form is the plot panel displaying the resultant plots, consists of a Menu bar and also a Selection Panel. Selection Panel consists of three sections as Items to Show, Type and Target to Show. Items to Show section allows selection of plots for True Motion Sensor Measurement Sensor Measurement with Missing Data and Type section allows selection of plot type as T-Static (showing static trajectory) T-Animated (showing animated trajectory) M-Animated (showing motion of target alone)
- 26. 80 Chapter 5 Target Tracking Projects Selection section consists of a target selection part and Refresh/Plot button, Export button and Close button. Target selection part is used for selecting the Target of which True Motion, Sensor Measurement or Sensor Measurement with Missing Data plots in T-Static, T-Animated or M-Animated type is plotted. After changing checked ıtems in Items to Show or Type panel or selected target clicking Refresh/Plot button refreshes the screen and displays the plot for most recent selections. To display the static plot of Target1 True Motion, check True Motion, check T-Static, check Target1 and click Refresh/Plot Similarly to display the static plot of Target2 True Motion, check True Motion, check T-Static, check Target2 and click Refresh/Plot.
- 27. 81 Similarly to display the static plot of both Target1 and Target2 True Motion, check True Motion, check T-Static, check both Target1 and Target2 and click Refresh/Plot. To display Sensor Measurement outputs (based on Sensor Measurement model chosen) for Target1 and Target2, check Sensor Measurement, check T-Static, check both Target1 and Target2 and click Refresh/Plot. Similarly to display Sensor Measurements with Missing Data outputs (based on Sensor Measurement and Missing Data models chosen) for Target1 and Target2, check SM with Missing Data, check T-Static, check both Target1 and Target2 and click Refresh/Plot.
- 28. 82 Chapter 5 Target Tracking Projects Animated plots show the trajectory and motion selected by T-Animated and M-Animated, the first one shows creation of trajectory by displaying the points in time whereas the second displays the target as a moving point object while keeping trajectory as a light trace. To display M-Animated plot of True Motion for Target1 and Target2, check True Motion, check M- Animated, check both Target1 and Target2 and click Refresh/Plot. Clicking Export on GraphPanel (TMM-Cartesian 2D) opens Save File dialog to select the location to save the graph plotted as Bitmap, JPEG or PNG images. Clicking Close, close the GraphPanel (TMM- Cartesian 2D).