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added antenna LOS pointing to diagnostic plots

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This commit is contained in:
Kevin Dee
2026-05-03 10:53:14 -07:00
parent 4159a3a5cb
commit 0490dd656d
2 changed files with 57 additions and 40 deletions
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@rfSensor/plotPerformance.m
+45 -7
View File
@@ -9,6 +9,12 @@ function f = plotPerformance(obj, altitude, otherSensorsPos, otherSensors)
f (1, 1) {mustBeA(f, "matlab.ui.Figure")};
end
% Clear local caches so this visualization always uses its own grid
obj.rssCache = [];
for ii = 1:numel(otherSensors)
otherSensors{ii}.rssCache = [];
end
otherSensorsPos = otherSensorsPos + [0, 0, altitude];
% Create grid on which to evalute SINR, SNR
@@ -29,24 +35,56 @@ function f = plotPerformance(obj, altitude, otherSensorsPos, otherSensors)
% normalize in linear scale
SINR = 10.^(SINR/10); SINR = SINR ./ max(SINR(:)); SINR = 10 * log10(SINR);
SNR = 10.^(SNR/10); SNR = SNR ./ max(SNR(:)); SNR = 10 * log10(SNR);
SNR = 10.^(SNR/10); SNR = SNR ./ max(SNR(:)); SNR = 10 * log10(SNR);
% Collect sensor positions and boresight parameters for overlay
sensorXY = [0, 0; otherSensorsPos(:, 1:2)];
sensorTilts = [obj.tilt; cellfun(@(s) s.tilt, otherSensors)];
sensorAzimuths = [obj.azimuth; cellfun(@(s) s.azimuth, otherSensors)];
tailScale = 0.5 * d;
f = figure;
tiledlayout(1, 2, TileSpacing="compact", Padding="compact");
nexttile;
imagesc(distances, distances, SNR);
axis("image"); set(gca, 'YDir', 'normal');
colorbar;
xlabel("X (m)"); ylabel("Y (m)");
colorbar; xlabel("X (m)"); ylabel("Y (m)");
title("Linearly Normalized SNR (dB)");
subtitle("No interfering sources");
addSensorOverlay(gca, sensorXY, sensorTilts, sensorAzimuths, tailScale);
nexttile;
imagesc(distances, distances, SINR);
axis("image"); set(gca, 'YDir', 'normal');
colorbar;
xlabel("X (m)"); ylabel("Y (m)");
colorbar; xlabel("X (m)"); ylabel("Y (m)");
title("Linearly Normalized SINR (dB)");
subtitle(sprintf("%d interfering source(s)", size(otherSensorsPos, 1)));
end
addSensorOverlay(gca, sensorXY, sensorTilts, sensorAzimuths, tailScale);
end
function addSensorOverlay(ax, sensorXY, tilts, azimuths, tailScale)
% Draw a marker + boresight arrow for each sensor.
% Tail direction follows azimuth convention (0=+Y, 90=+X, clockwise).
% Tail length = tailScale * sind(tilt), so nadir (0°) has no tail and
% horizon (90°) has the full tailScale length.
hold(ax, 'on');
for ii = 1:size(sensorXY, 1)
x = sensorXY(ii, 1);
y = sensorXY(ii, 2);
if ii == 1
c = [0, 0, 0];
mk = 'o';
else
c = [0.9, 0.2, 0.2];
mk = 'x';
end
scatter(ax, x, y, 80, c, mk, LineWidth=2);
if tilts(ii) > 0
u = tailScale * sind(tilts(ii)) * sind(azimuths(ii));
v = tailScale * sind(tilts(ii)) * cosd(azimuths(ii));
quiver(ax, x, y, u, v, 0, Color=c, LineWidth=2, MaxHeadSize=1.0);
end
end
hold(ax, 'off');
end
test/test_rfSensor.m
+12 -33
View File
@@ -91,11 +91,11 @@ classdef test_rfSensor < matlab.unittest.TestCase
altitude = 30;
sensor1 = rfSensor;
sensor1 = sensor1.initialize(P_TX, BW, f_c, G_RX_dBi, 0, 0);
sensor1 = sensor1.initialize(P_TX, BW, f_c, G_RX_dBi, 15, 45);
sensor2 = rfSensor;
sensor2 = sensor2.initialize(P_TX, BW, f_c, G_RX_dBi, 0, 0);
sensor2 = sensor2.initialize(P_TX, BW, f_c, G_RX_dBi, 10, 150);
sensor3 = rfSensor;
sensor3 = sensor3.initialize(P_TX, BW, f_c, G_RX_dBi, 0, 0);
sensor3 = sensor3.initialize(P_TX, BW, f_c, G_RX_dBi, 20, 200);
pos1 = [0, 0, altitude];
pos2 = [6, -4, altitude - 1];
@@ -107,49 +107,28 @@ classdef test_rfSensor < matlab.unittest.TestCase
targetPos = [Xg(:), Yg(:), zeros(numel(Xg), 1)];
% Call 1: cache empty, does all computations for this timestep
[SINR1, ~, sensor1, others] = sensor1.sensorPerformance(pos1, targetPos, [pos2; pos3], {sensor2; sensor3});
[~, ~, sensor1, others] = sensor1.sensorPerformance(pos1, targetPos, [pos2; pos3], {sensor2; sensor3});
sensor2 = others{1};
sensor3 = others{2};
% Calls 2 and 3 use cached data
[SINR2, ~, sensor2, others] = sensor2.sensorPerformance(pos2, targetPos, [pos1; pos3], {sensor1; sensor3});
[~, ~, sensor2, others] = sensor2.sensorPerformance(pos2, targetPos, [pos1; pos3], {sensor1; sensor3});
sensor1 = others{1};
sensor3 = others{2};
[SINR3, ~, sensor3, ~] = sensor3.sensorPerformance(pos3, targetPos, [pos1; pos2], {sensor1; sensor2});
[~, ~, sensor3, ~] = sensor3.sensorPerformance(pos3, targetPos, [pos1; pos2], {sensor1; sensor2});
% All caches should be populated after the three calls
tc.assertNotEmpty(sensor1.rssCache);
tc.assertNotEmpty(sensor2.rssCache);
tc.assertNotEmpty(sensor3.rssCache);
% Plot SINR from each UAV's perspective
sz = size(Xg);
SINR1 = reshape(SINR1, sz);
SINR2 = reshape(SINR2, sz);
SINR3 = reshape(SINR3, sz);
f = figure;
tiledlayout(f, 1, 3, TileSpacing="compact", Padding="compact");
nexttile;
imagesc(distances, distances, SINR1); axis image; set(gca, YDir="normal"); hold on;
scatter(pos1(1), pos1(2), 80, "g", "o", LineWidth=2);
scatter([pos2(1), pos3(1)], [pos2(2), pos3(2)], 80, "r", "x", LineWidth=2);
hold off; cb = colorbar; cb.Label.String = "SINR (dB)"; xlabel("X (m)"); ylabel("Y (m)"); title("SINR: UAV 1");
nexttile;
imagesc(distances, distances, SINR2); axis image; set(gca, YDir="normal"); hold on;
scatter(pos2(1), pos2(2), 80, "g", "o", LineWidth=2);
scatter([pos1(1), pos3(1)], [pos1(2), pos3(2)], 80, "r", "x", LineWidth=2);
hold off; cb = colorbar; cb.Label.String = "SINR (dB)"; xlabel("X (m)"); ylabel("Y (m)"); title("SINR: UAV 2");
nexttile;
imagesc(distances, distances, SINR3); axis image; set(gca, YDir="normal"); hold on;
scatter(pos3(1), pos3(2), 80, "g", "o", LineWidth=2);
scatter([pos1(1), pos2(1)], [pos1(2), pos2(2)], 80, "r", "x", LineWidth=2);
hold off; cb = colorbar; cb.Label.String = "SINR (dB)"; xlabel("X (m)"); ylabel("Y (m)"); title("SINR: UAV 3");
% Plot SINR from each UAV's perspective.
% otherSensorsPos for plotPerformance: XY = offset from calling sensor, Z = absolute_alt - calling_alt.
% This is exactly posOther - posSelf for each row.
sensor1.plotPerformance(pos1(3), [pos2 - pos1; pos3 - pos1], {sensor2; sensor3});
sensor2.plotPerformance(pos2(3), [pos1 - pos2; pos3 - pos2], {sensor1; sensor3});
sensor3.plotPerformance(pos3(3), [pos1 - pos3; pos2 - pos3], {sensor1; sensor2});
end
end
end