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added sensor tilting and rf sensor sim test cases

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This commit is contained in:
Kevin Dee
2026-05-03 14:32:53 -07:00
parent e950d43fc8
commit 0e39e0037d
13 changed files with 154 additions and 29 deletions
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@agent/initialize.m
+1 -1
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@@ -35,5 +35,5 @@ function obj = initialize(obj, pos, collisionGeometry, sensorModel, comRange, ma
% Initialize FOV cone
obj.fovGeometry = cone;
obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:3)], tand(obj.sensorModel.alphaTilt) * obj.pos(3), obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label));
obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:3)], tand(obj.sensorModel.halfAngle()) * obj.pos(3), obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label), obj.sensorModel.tilt, obj.sensorModel.azimuth);
end
@rfSensor/halfAngle.m
+23
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@@ -0,0 +1,23 @@
function value = halfAngle(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, "rfSensor")};
end
arguments (Output)
value (1, 1) double;
end
% Sweep angular offset from boresight by evaluating transmitterGain at
% (obj.tilt + dtheta, obj.azimuth). The cosine difference identity guarantees
% the resulting angular offset from boresight equals dtheta exactly,
% independent of the actual pointing direction.
dtheta = (0:0.1:179.9)';
gain = obj.transmitterGain(obj.tilt + dtheta, obj.azimuth * ones(size(dtheta)));
target = gain(1) - 3;
idx = find(gain <= target, 1);
if isempty(idx) || idx == 1
value = dtheta(end);
return;
end
% Linear interpolation between bracketing samples
value = dtheta(idx-1) + (target - gain(idx-1)) * ...
(dtheta(idx) - dtheta(idx-1)) / (gain(idx) - gain(idx-1));
end
@rfSensor/rfSensor.m
+1
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@@ -22,6 +22,7 @@ classdef rfSensor
[obj] = initialize(obj, txPower, bandwidth, centerFreq, rxGain); % initialize sensor, define parameters
[SINR, SNR, obj, otherSensors] = sensorPerformance(obj, agentPos, targetPos, otherSensorsPos, otherSensors); % determine sensor performance for a given single sensor and target geometry
[d, t, a] = computePointToPoints(obj, agentPos, targetPos);
[value] = halfAngle(obj); % tilt angle (deg) at which sensor performance is halved
[f] = plotParameters(obj); % debug, plot sensor response as a function of distance and tilt angle
[f] = plotPerformance(obj, altitude, otherSensorsPos, otherSensors); % debug, plot SNR or SINR ground heatmap for a given geometry
obj = clearRssCache(obj);
@rfSensor/sensorPerformance.m
+2 -2
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@@ -17,7 +17,7 @@ function [SINR, SNR, obj, otherSensors] = sensorPerformance(obj, agentPos, targe
[d, t, a] = obj.computePointToPoints(agentPos, targetPos);
if isempty(obj.rssCache)
obj.rssCache = 10 .^ (0.1 .* obj.RSS(d, t, a));
obj.rssCache = 1e-3 .* 10 .^ (0.1 .* obj.RSS(d, t, a)); % dBm → W
end
S = obj.rssCache;
@@ -25,7 +25,7 @@ function [SINR, SNR, obj, otherSensors] = sensorPerformance(obj, agentPos, targe
for ii = 1:size(otherSensors, 1)
if isempty(otherSensors{ii}.rssCache)
[d_other, t_other, a_other] = otherSensors{ii}.computePointToPoints(otherSensorsPos(ii, 1:3), targetPos);
otherSensors{ii}.rssCache = 10 .^ (0.1 .* otherSensors{ii}.RSS(d_other, t_other, a_other));
otherSensors{ii}.rssCache = 1e-3 .* 10 .^ (0.1 .* otherSensors{ii}.RSS(d_other, t_other, a_other)); % dBm → W
end
I = I + otherSensors{ii}.rssCache;
end
@rfSensor/transmitterGain.m
+1 -1
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@@ -11,7 +11,7 @@ function value = transmitterGain(obj, t, a)
error("t and a must be the same size");
end
n = 4; % beamwidth exponent (higher = narrower beam)
n = 6; % beamwidth exponent (higher = narrower beam)
% Angular offset from boresight via spherical law of cosines
% Convention: t=0° nadir, t=90° horizon; a=0° +y, a=90° +x
@sigmoidSensor/halfAngle.m
+9
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@@ -0,0 +1,9 @@
function value = halfAngle(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, "sigmoidSensor")};
end
arguments (Output)
value (1, 1) double;
end
value = obj.alphaTilt;
end
@sigmoidSensor/initialize.m
+8 -1
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@@ -1,17 +1,24 @@
function obj = initialize(obj, alphaDist, betaDist, alphaTilt, betaTilt)
function obj = initialize(obj, alphaDist, betaDist, alphaTilt, betaTilt, tilt, azimuth)
arguments (Input)
obj (1, 1) {mustBeA(obj, "sigmoidSensor")}
alphaDist (1, 1) double;
betaDist (1, 1) double;
alphaTilt (1, 1) double;
betaTilt (1, 1) double;
tilt (1, 1) double = 0;
azimuth (1, 1) double = 0;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, "sigmoidSensor")}
end
% Sensor performance parameters
obj.alphaDist = alphaDist;
obj.betaDist = betaDist;
obj.alphaTilt = alphaTilt;
obj.betaTilt = betaTilt;
% Sensor pointing parameters
obj.tilt = tilt;
obj.azimuth = azimuth;
end
@sigmoidSensor/sensorPerformance.m
+10 -6
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@@ -8,16 +8,20 @@ function value = sensorPerformance(obj, agentPos, targetPos)
value (:, 1) double;
end
% compute direct distance and distance projected onto the ground
d = vecnorm(agentPos - targetPos, 2, 2); % distance from sensor to target
x = vecnorm(agentPos(1:2) - targetPos(:, 1:2), 2, 2); % distance from sensor nadir to target nadir (i.e. distance ignoring height difference)
% Unit vectors from agent to each target
diffs = targetPos - agentPos;
d = vecnorm(diffs, 2, 2);
dirs = diffs ./ d;
% compute tilt angle
tiltAngle = (180 - atan2d(x, targetPos(:, 3) - agentPos(3))); % degrees
% Boresight unit vector: tilt=0 → nadir [0,0,-1]; azimuth 0=+Y, 90=+X clockwise
boresight = [sind(obj.tilt)*sind(obj.azimuth), sind(obj.tilt)*cosd(obj.azimuth), -cosd(obj.tilt)];
% Angular offset from boresight to each target direction
angularOffset = acosd(dirs * boresight');
% Membership functions
mu_d = obj.distanceMembership(d);
mu_t = obj.tiltMembership(tiltAngle);
mu_t = obj.tiltMembership(angularOffset);
value = mu_d .* mu_t; % assume pan membership is always 1
end
@sigmoidSensor/sigmoidSensor.m
+2 -1
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@@ -12,8 +12,9 @@ classdef sigmoidSensor
end
methods (Access = public)
[obj] = initialize(obj, alphaDist, betaDist, alphaTilt, betaTilt); % initialize sensor, define parameters
[obj] = initialize(obj, alphaDist, betaDist, alphaTilt, betaTilt, tilt, azimuth); % initialize sensor, define parameters
[value] = sensorPerformance(obj, agentPos, targetPos); % determine sensor performance for a given single sensor and target geometry
[value] = halfAngle(obj); % tilt angle (deg) at which sensor performance is halved
[f] = plotParameters(obj); % debug, plot sensor response as a function of distance and tilt angle
end
methods (Access = private)
geometries/@cone/cone.m
+5 -3
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@@ -6,9 +6,11 @@ classdef cone
label = "";
% Spatial
center = NaN;
radius = NaN;
height = NaN;
center = NaN;
radius = NaN;
height = NaN;
tilt = 0; % degrees, 0=nadir 90=horizon
azimuth = 0; % degrees, 0=+Y 90=+X clockwise
% Plotting
surface;
geometries/@cone/initialize.m
+16 -12
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@@ -1,19 +1,23 @@
function obj = initialize(obj, center, radius, height, tag, label)
function obj = initialize(obj, center, radius, height, tag, label, tilt, azimuth)
arguments (Input)
obj (1, 1) {mustBeA(obj, "cone")};
center (1, 3) double;
radius (1, 1) double;
height (1, 1) double;
tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
label (1, 1) string = "";
obj (1, 1) {mustBeA(obj, "cone")};
center (1, 3) double;
radius (1, 1) double;
height (1, 1) double;
tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
label (1, 1) string = "";
tilt (1, 1) double = 0;
azimuth (1, 1) double = 0;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, "cone")};
end
obj.center = center;
obj.radius = radius;
obj.height = height;
obj.tag = tag;
obj.label = label;
obj.center = center;
obj.radius = radius;
obj.height = height;
obj.tag = tag;
obj.label = label;
obj.tilt = tilt;
obj.azimuth = azimuth;
end
geometries/@cone/plot.m
+12 -1
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@@ -20,7 +20,18 @@ function [obj, f] = plot(obj, ind, f, maxAlt)
% Scale to match height
Z = Z * maxAlt;
% Rotate mesh around apex to match boresight tilt and azimuth.
% Apex sits at [0, 0, maxAlt] before center translation.
% Convention: tilt 0=nadir, 90=horizon; azimuth 0=+Y, 90=+X, clockwise.
Ry = [cosd(obj.tilt), 0, -sind(obj.tilt); 0, 1, 0; sind(obj.tilt), 0, cosd(obj.tilt)];
Rz = [sind(obj.azimuth), -cosd(obj.azimuth), 0; cosd(obj.azimuth), sind(obj.azimuth), 0; 0, 0, 1];
R = Rz * Ry;
pts = R * [X(:)'; Y(:)'; Z(:)' - maxAlt];
X = reshape(pts(1, :), size(X));
Y = reshape(pts(2, :), size(Y));
Z = reshape(pts(3, :) + maxAlt, size(Z));
% Move to center location
X = X + obj.center(1);
Y = Y + obj.center(2);
test/test_miSim.m
+64 -1
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@@ -456,7 +456,70 @@ classdef test_miSim < matlab.unittest.TestCase
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Run the simulation
tc.testClass = tc.testClass.run();end
tc.testClass = tc.testClass.run();
end
function test_single_agent_gradient_ascent_tilted(tc)
% make basic domain
tc.minDimension = 10; % domain size
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, 1e-6, [7, 6]);
% Initialize agent collision geometry
tc.agents = {agent};
geometry1 = spherical;
geometry1 = geometry1.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], tc.collisionRanges(1), REGION_TYPE.COLLISION);
% Initialize agent sensor model with fixed parameters
tc.sensor = tc.sensor.initialize(tc.minDimension / 2, 3, 20, 3, 25, 155);
% Initialize agents
tc.maxIter = 75;
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
% Initialize the simulation
tc.obstacles = cell(0, 1);
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Run the simulation
tc.testClass = tc.testClass.run();
end
function test_single_agent_gradient_ascent_tilted_RF_sensor(tc)
% make basic domain
tc.minDimension = 10; % domain size
tc.domain = tc.domain.initialize([zeros(1, 3);tc.minDimension* ones(1, 3)], REGION_TYPE.DOMAIN, "Domain");
% make basic sensing objective
minimumSINR = 50; % (dB)
tc.domain.objective = tc.domain.objective.initialize(objectiveFunctionWrapper([7, 6]), tc.domain, tc.discretizationStep, tc.protectedRange, minimumSINR, [7, 6]);
% Initialize agent collision geometry
tc.agents = {agent};
geometry1 = spherical;
geometry1 = geometry1.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], tc.collisionRanges(1), REGION_TYPE.COLLISION);
% Initialize agent sensor model with fixed parameters
P_TX = 1e-3; % Transmit power (Watts)
BW = 20e6; % Bandwidth (Hz)
f_c = 2e9; % Center frequency (Hz)
G_RX_dBi = 3; % Receiving Antenna Gain (dBi)
tc.sensor = rfSensor;
tc.sensor = tc.sensor.initialize(P_TX, BW, f_c, G_RX_dBi, 45, 45);
% Initialize agents
tc.maxIter = 75;
tc.agents{1} = tc.agents{1}.initialize([tc.domain.center(1:2)-tc.domain.dimensions(1)/4, 3], geometry1, tc.sensor, tc.commsRanges(1), tc.maxIter, tc.initialStepSize);
% Initialize the simulation
tc.obstacles = cell(0, 1);
tc.minAlt = 0.5;
tc.testClass = tc.testClass.initialize(tc.domain, tc.agents, tc.barrierGain, tc.barrierExponent, tc.minAlt, tc.timestep, tc.maxIter, tc.obstacles, tc.makePlots, tc.makeVideo, tc.useDoubleIntegrator, tc.dampingCoeff, tc.useFixedTopology);
% Run the simulation
tc.testClass = tc.testClass.run();
end
function test_collision_avoidance(tc)
% No obstacles
% Fixed agent initial conditions