Engee documentation

Angle Estimator

Evaluating angles.

angle estimator

Description

Unit Angle Estimator estimates the azimuth direction to the target (or targets) based on the received radar response.

The direction is estimated by calculating the spatial spectrum of incoming narrowband signals using the MUSIC algorithm. This algorithm implements the scanning of a rectangular region using a narrowband beamformer. The receive antenna array geometry is a uniform linear antenna array (ULA).

Ports

Input

# Resp — cube of response data processed by Doppler
complex column vector P on 1 | complex matrix M on P | complex matrix M on N on P

Details

A cube of Doppler-processed response data given as a complex vector-column P by 1, a complex matrix M by P, or a complex array M by N by P. M is the number of range samples, N is the number of transducer elements or beams, P is the number of Doppler bins.

Data types

Float16| Float32 | Float64 | Int8 | Int16 | Int32 | Int64| UInt8 | UInt16 | UInt32 | UInt64 | Bool.

Complex numbers support

Yes

# DetIdx — detection indices
` real matrix Nd on Q

Details

Detection indices given as a real matrix Nd on Q. Q is the number of detections, Nd is the number of measurements in the response data cube, Resp. Each column DetIdx contains the indices of detections in the response data cube.

Пример

[−0.3,−0.2,−0.1,0,0.1,0.2,0.3]

Data types

`Float16| Float32 | Float64 | Int8 | Int16 | Int32 | Int64| UInt8 | UInt16 | UInt32 | UInt64 | Bool

Complex numbers support

No

# Clusters — cluster identifiers
` real positive vector-string 1 on Q`

Details

Clusters identifiers given as a real positive vector-string 1 on Q, where Q is the number of detections given in the DetIdx input port. Each element of Clusters corresponds to an element of DetIdx.

Data types

Float16| Float32 | Float64 | Int8 | Int16 | Int32 | Int64| UInt8 | UInt16 | UInt32 | UInt64 | Bool.

Complex numbers support

No

Output

# Est — estimates of angular position (bearing)
real vector-column Num by 1

Details

The angular position estimates are a real column vector whose length is determined by the parameter Maximum number of estimates.

Data types

Float16| Float32 | Float64 | Int8 | Int16 | Int32 | Int64| UInt8 | UInt16 | UInt32 | UInt64 | Bool.

Complex numbers support

No

Parameters

Main

# Propagation speed (m/s) — signal propagation speed, m/s
Real number

Details

The propagation velocity of a signal as a real positive scalar.

Default value

3e8

Program usage name

PropagationSpeed

Tunable

No

Evaluatable

Yes

# Operating frequency (Hz) — signal carrier frequency, Hz
Real number

Details

Carrier frequency of the signal specified as a real positive scalar.

Default value

7.7e10

Program usage name

OperatingFrequency

Tunable

No

Evaluatable

Yes

# Maximum number of estimates — maximum number of angular position estimates
Int64 integer

Details

The maximum number of angular position estimates for the report, specified as a positive integer. If the number of requested estimates is greater than the number of elements on the DetIdx input port, the remainder is filled with NaN.

Default value

0

Program usage name

MaxNumberEstimates

Tunable

No

Evaluatable

Yes

Main

# Specify sensor array as — antenna array design method
Array (no subarrays)

Details

The antenna array assignment method specified as Array (no subarrays).

  • Array (no subarrays)- block parameters are used to set the antenna array.

Values

Array (no subarrays)

Default value

Array (no subarrays)

Program usage name

SpecifySensorArray

Tunable

No

Evaluatable

No

Element

# Element type — types of antenna array elements
Isotropic Antenna | Cardioid Antenna | Cosine Antenna | Custom Antenna | Gaussian Antenna | Sinc Antenna | Omni Microphone | Custom Microphone

Details

Type of antenna array element.

Available values:

  • Isotropic Antenna.

  • Cardioid Antenna

  • `Cosine Antenna

  • `Custom Antenna

  • `Gaussian Antenna

  • `Sinc Antenna

  • `Omni Microphone

  • `Custom Microphone

Values

Isotropic Antenna | Cardioid Antenna | Cosine Antenna | Custom Antenna | Gaussian Antenna | Sinc Antenna | Omni Microphone | Custom Microphone

Default value

Isotropic Antenna

Program usage name

ElementType

Tunable

No

Evaluatable

No

# Operating frequency vector (Hz) — array of operating frequencies of the antenna array element
Vector / matrix of real numbers

Details

The array of operating frequencies of the antenna array element in the form of a vector-string on of increasing real values. The element has no response outside the frequency range given by the minimum and maximum elements of this vector.

Dependencies

To use this parameter, set the Element type parameters to Custom Antenna or Custom Microphone. Use the Frequency responses (dB) parameter to set the responses at these frequencies.

Default value

[0, 1e20]

Program usage name

FrequencyVector

Tunable

No

Evaluatable

Yes

# Frequency responses (dB) — frequency responses of the antenna array element
Vector / matrix of real numbers

Details

The frequency response of custom antenna array elements is determined by the Operating frequency vector (Hz) parameters. The dimensions of the Frequency responses (dB) vector must coincide with the dimensions of the vector defined by the Operating frequency vector (Hz) parameters.

Dependencies

To use this parameter, set the Element type parameters to Custom Antenna or Custom Microphone.

Default value

[0, 0]

Program usage name

FrequencyResponse

Tunable

No

Evaluatable

Yes

# Input pattern coordinate system — selection of the coordinate system of the directional pattern of the user antenna array
az-el | phi-theta

Details

Selection of the coordinate system of the directional pattern of the user antenna array is indicated by az-el or phi-theta. When az-el is selected, the parameters Azimuth angles (deg) and Elevations angles (deg) are used to specify the coordinates of the directional pattern points. When the phi-theta parameter is specified, the Phi angle (deg) and Theta angles (deg) parameters are used to specify the coordinates of the pattern points.

Dependencies

To use this parameter, set the Element type parameters to Custom Antenna.

Values

az-el | phi-theta

Default value

az-el

Program usage name

CoordinateSystem

Tunable

No

Evaluatable

No

# Azimuth angles (deg) — azimuth angles of the radiation pattern of the antenna array
Vector / matrix of real numbers

Details

The values of azimuth angles, by which the radiation pattern of the antenna array will be calculated as a vector-string to . must be greater than . The values of azimuth angles must lie in the range from −180° to 180° inclusive and be in strictly ascending order.

Dependencies

To use this parameter, set the Element type parameter to Custom Antenna and the Input Pattern Coordinate System parameter to az-el.

Default value

-180:180

Program usage name

AzimuthAngle

Tunable

No

Evaluatable

Yes

# Elevation angles (deg) — values of the antenna array radiation pattern place angles
Vector / matrix of real numbers

Details

The values of the angles of place at which it is necessary to calculate the radiation pattern as a vector to . must be greater than . The elevation angles must lie in the range from −90° up to and including 90° and be in strictly ascending order.

Dependencies

To use this parameter, set the Element type parameter to Custom Antenna and the Input Pattern Coordinate System parameter to az-el.

Default value

-90:90

Program usage name

ElevationAngle_R

Tunable

No

Evaluatable

Yes

# Phi angles (deg) — values of Phi angles of the antenna array radiation pattern
Vector / matrix of real numbers

Details

Angular coordinates Phi of the points in which the radiation pattern of the antenna array is set. Set as a real vector-string to . must be greater than .

The values of angles Phi must lie in the range from 0° to 360° and be arranged in a strictly increasing order.

Dependencies

To use this parameter, set the Element type parameter to Custom Antenna and the Input Pattern Coordinate System parameter to phi-theta.

Default value

0:360

Program usage name

PhiAngles

Tunable

No

Evaluatable

Yes

# Theta angles (deg) — Theta angles of the antenna array radiation pattern
Vector / matrix of real numbers

Details

Theta angular coordinates of the points where the radiation pattern of the antenna array is set. Set as a real vector-string to . must be greater than .

Values of `Theta' angles must lie in the range from 0° to 180° and be arranged in strictly increasing order.

Dependencies

To use this parameter, set the Element type parameter to Custom Antenna and the Input Pattern Coordinate System parameter to phi-theta.

Default value

0:180

Program usage name

ThetaAngles

Tunable

No

Evaluatable

Yes

# Magnitude pattern (dB) — antenna array directivity diagram value
String

Details

The magnitude of the antenna array directivity pattern specified as a matrix to or an array to to .

  • If the Input Pattern Coordinate System parameter is set to az-el, then is equal to the length of the vector defined by the Elevation angles (deg) parameter, in turn, is equal to the length of the vector defined by the Azimuth angles (deg) parameter.

  • If the Input Pattern Coordinate System parameter is set to phi-theta, then is equal to the length of the vector defined by the Theta Angles (deg) parameter, in turn, is equal to the length of the vector defined by the Phi Angles (deg) parameter.

The value of is equal to the value of the Operating frequency vector (Hz) parameters.

  • If the value of this parameter is a matrix to , then the same scheme is applied for all frequencies specified in the Operating frequency vector (Hz) parameter.

  • If the value is an array to to , each element to of the array specifies a pattern for the corresponding frequency specified in the Operating frequency vector (Hz) parameters.

Dependencies

To use this parameter, set the Element type parameters to Custom Antenna.

Default value

zeros(181,361)

Program usage name

MagnitudePattern

Tunable

No

Evaluatable

Yes

# Phase pattern (deg) — phase of the radiation pattern of the user antenna array
String

Details

The phase radiation pattern of the combined antenna array specified as a matrix to or an array to to .

  • If the Input Pattern Coordinate System parameter is set to az-el, then is equal to the length of the vector defined by the Elevation angles (deg) parameter, in turn, is equal to the length of the vector defined by the Azimuth angles (deg) parameter.

  • If the Input Pattern Coordinate System parameter is set to phi-theta, then is equal to the length of the vector defined by the Theta Angles (deg) parameter, in turn, is equal to the length of the vector defined by the Phi Angles (deg) parameter.

The value of is equal to the value of the Operating frequency vector (Hz) parameters.

  • If the value of this parameter is a matrix to , then the same scheme is applied for all frequencies specified in the Operating frequency vector (Hz) parameter.

  • If the value is an array to to , each element to of the array specifies a pattern for the corresponding frequency specified in the Operating frequency vector (Hz) parameters.

Dependencies

To use this parameter, set the Element type parameters to Custom Antenna.

Default value

zeros(181,361)

Program usage name

PhasePattern

Tunable

No

Evaluatable

Yes

# Align element normal with array normal — align the normal of the antenna array element with the normal of the array
Logical

Details

Select this check box to rotate the antenna array element pattern to align with the antenna array normal.

  • If an antenna array element is used in an antenna array and the Input Pattern Coordinate System parameter is set to az-el, selecting this check box rotates the pattern so that the x axis of the antenna array element coordinate system points along the antenna array normal. If no selection is made, the element pattern without rotation is used.

  • If an antenna array element is used in an antenna array and the Input Pattern Coordinate System parameters is set to phi-theta, selecting this checkbox rotates the pattern so that the z axis of the antenna array element coordinate system points along the normal of the antenna array.

Use this parameter together with the Array Normal parameters of the URA and UCA arrays.

Dependencies

To use this parameter, set the Element type parameters to Custom Antenna.

Default value

true (switched on)

Program usage name

AlignElementNormal

Tunable

No

Evaluatable

No

# Polar pattern frequencies (Hz) — frequency values for the polar radiation pattern of the acoustic element
Real number

Details

The frequency values for the polar pattern are specified as a real scalar or real vector string at . The frequencies lie within the frequency range specified by the Operating frequency vector (Hz) parameters.

Dependencies

To use this parameter, set the Element type parameters to Custom Microphone.

Default value

1e3

Program usage name

FrequencyPattern

Tunable

No

Evaluatable

Yes

# Polar pattern angles (deg) — angle values for the polar directional pattern of the acoustic element
Vector / matrix of real numbers

Details

Angle values for the polar pattern of the acoustic element are specified as a vector . The angles are measured from the centre axis of the acoustic element and must be in the range from −180° to 180° inclusive.

Dependencies

To use this parameter, set the Element type parameters to Custom Microphone.

Default value

-180:180

Program usage name

AnglePattern

Tunable

No

Evaluatable

Yes

# Polar pattern (dB) — polar directional pattern of the acoustic element
Vector / matrix of real numbers

Details

Set the polar pattern magnitude of a custom acoustic element as a real vector string to , where is the number of frequencies specified in the Polar pattern frequencies (Hz) parameters. The string represents the polar pattern magnitude measured at the corresponding frequency specified in Polar pattern frequencies (Hz). The directional pattern is measured in the azimuth plane. In the azimuth plane, the angle of place is 0° and the centre axis is 0° in azimuth and 0° in elevation. The polar pattern is symmetrical around the centre axis. Based on the polar diagram, it is possible to construct the directivity diagram of an acoustic element in three-dimensional space.

Dependencies

To use this parameter, set the Element type parameters to Custom Microphone.

Default value

zeros(1, 361)

Program usage name

PolarPattern

Tunable

No

Evaluatable

Yes

# Operating frequency range (Hz) — operating frequency range of the antenna array element
Array of real numbers

Details

The operating frequency range of the antenna array element as a string vector at as [LowerBound, UpperBound]. The element has no response outside this frequency range.

Dependencies

To use this parameter, set the Element type parameters to Isotropic Antenna, Cosine Antenna or Omni Microphone.

Default value

[0 1e20]

Program usage name

OperatingFrequencyRange

Tunable

No

Evaluatable

Yes

# Radiation pattern beamwidth (deg) — beam width of the antenna array radiation pattern
Scalar / array of real numbers

Details

The beam width of the antenna array radiation pattern.

Dependencies

To use this parameter, set the Element type parameters to Gaussian Antenna.

Default value

[10, 10]

Program usage name

RadiationPatternBeamwidth

Tunable

No

Evaluatable

Yes

# Null axis direction — axis direction along the zero emission
String

Details

Axis direction along the null radiation.

Dependencies

To use this parameter, set the Element type parameters to Cardioid Antenna.

Default value

-x

Program usage name

NullAxisDirection

Tunable

No

Evaluatable

Yes

# Exponent of cosine pattern — exponent of the exponent degree at setting the shape of the cosine directional pattern
Scalar / array of real numbers

Details

The exponent of cosine pattern exponent in the form of a non-negative scalar or a real matrix to of non-negative values. If the Exponent of cosine pattern is a vector to , the first element is the exponent of the exponent degree in the azimuth direction and the second element in the angle-of-place direction. When the parameters are scalar, the cosines in the azimuth and elevation directions are raised to the same degree.

Dependencies

To use this parameter, set the Element type parameter to Cosine Antenna.

Default value

[1.5 1.5]

Program usage name

ExponentCosinePattern

Tunable

No

Evaluatable

Yes

# Baffle the back of the element — Consideration of radiation through the rear beam of the radiation pattern into the rear hemisphere of the antenna array element
Logical

Details

Select this check box to exclude radiation to the rear hemisphere. The response from the rear hemisphere at all azimuth angles outside the ±90° interval from the broadside is set to zero. The broadside is defined as an azimuth angle of 0° and a location angle of 0°.

Dependencies

To use this parameter, set the Element type parameters to Isotropic Antenna or Omni Microphone.

Default value

false (switched off)

Program usage name

BaffleBackElement

Tunable

No

Evaluatable

No

ULA

# Number of elements — number of antenna array elements
Real number

Details

Number of ULA antenna array elements specified as an integer greater than or equal to .

Default value

4

Program usage name

NumberElements

Tunable

No

Evaluatable

Yes

# Array axis — ULA linear axis direction
x | y | z

Details

The direction of the ULA linear axis, given as y, x, or z. All elements of the ULA array are uniformly distributed along this axis in the local array coordinate system.

Values

x | y | z

Default value

y

Program usage name

ArrayAxis

Tunable

No

Evaluatable

No

# Taper — change of the directivity diagram of the antenna array elements
Scalar / array of real and/or complex numbers

Details

Change of the directivity diagram of the antenna array elements. Defined as a complex scalar or complex vector to , where is the number of antenna array elements.

The coefficients that change the directivity pattern, also called element weights, multiply the responses of the antenna array elements. The coefficients change both the amplitude and phase of the response to reduce side lobes or the direction of the main response axis.

If the value of the Taper parameters is a scalar, the same weight is applied to each element. If Taper is a vector, then the weight from the vector is applied to the corresponding antenna array element. The number of weights must correspond to the number of antenna array elements.

Default value

1

Program usage name

Taper

Tunable

No

Evaluatable

Yes