added antenna pointing parameters

@rfSensor/initialize.m

@@ -1,10 +1,12 @@
-function obj = initialize(obj, txPower, bandwidth, centerFreq, rxGain_dBi)
+function obj = initialize(obj, txPower, bandwidth, centerFreq, rxGain_dBi, boresightTilt, boresightAzimuth)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, "rfSensor")}
         txPower (1, 1) double;
         bandwidth (1, 1) double;
         centerFreq (1, 1) double;
         rxGain_dBi (1, 1) double;
+        boresightTilt (1, 1) double = 0;
+        boresightAzimuth (1, 1) double = 0;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, "rfSensor")}
@@ -15,6 +17,8 @@ function obj = initialize(obj, txPower, bandwidth, centerFreq, rxGain_dBi)
     obj.BW = bandwidth; % Bandwidth (Hz)
     obj.f_c = centerFreq; % Center frequency (Hz)
     obj.G_RX_dBi = rxGain_dBi; % Receiving Antenna Gain (dBi)
+    obj.boresightTilt = boresightTilt;
+    obj.boresightAzimuth = boresightAzimuth;
 
     % Computed values
     obj.P_TX_dBm = 10*log10(obj.P_TX/1e-3); % Transmit power in dBm

@rfSensor/plotParameters.m

@@ -6,47 +6,43 @@ function f = plotParameters(obj)
         f (1, 1) {mustBeA(f, "matlab.ui.Figure")};
     end
 
-    % Distance and tilt sample points
+    % Agent altitude layers and angle sample points
-    d_values = 10.^[1, 2, 3, 4, 5, 6];
+    alt_values = 10.^[1, 2, 3, 4];
-    t_values = 0:2.5:180;   % 0=nadir (center), 180=zenith (edge)
+    t_values = 0:2.5:87.5;   % 0=nadir (center), <90=near horizon (edge)
     a_values = 0:2.5:360;
 
-    % Make grid of values of distances and tilts
-    [d_mg, t_mg, a_mg] = meshgrid(d_values, t_values, a_values);
-    d = d_mg(:); t = t_mg(:); a = a_mg(:); % flatten
-
-    % Sample received signal strength (no interference or noise)
-    s_x = obj.RSS(d, t, a);
-    s_x = reshape(s_x, size(d_mg));
-
     [T, A] = meshgrid(t_values, a_values);   % Naz x Nel
     Ar = deg2rad(A);
 
     f = figure;
     hold("on");
 
-    for ii = 1:numel(d_values)
+    for ii = 1:numel(alt_values)
-        % Linear radial mapping: t=0 (nadir) -> center, t=180 (zenith) -> edge
+        alt = alt_values(ii);
-        % Radius in log10 units to match Z axis scale
+
-        r = log10(d_values(ii)) .* T ./ 180;
+        % For agent at altitude alt, ground target at tilt T has slant distance:
+        D = alt ./ cosd(T);
+
+        % Compute RSS for each (d, t, a) triple
+        rss = obj.RSS(D(:), T(:), A(:));
+        Fslice = reshape(rss, size(D));
+
+        % Disc geometry: t=0 (nadir) -> center, t~90 (horizon) -> edge
+        r = log10(alt) .* T ./ 90;
         X = r .* cos(Ar);
         Y = r .* sin(Ar);
-        Z = log10(d_values(ii)) * ones(size(X));
+        Z = log10(alt) * ones(size(X));
 
-        % evaluate or extract this slice
+        hs = surf(X, Y, Z, Fslice);
-        Fslice = squeeze(s_x(:, ii, :))';
+        hs.EdgeColor = 'none';
-    
+        hs.FaceColor = 'interp';
-        % plot as its own surface
+        hs.FaceAlpha = 0.25;
-        h = surf(X, Y, Z, Fslice);
-        h.EdgeColor = 'none';
-        h.FaceColor = 'interp';
-        h.FaceAlpha = 0.25;
     end
 
     colormap(turbo);
     colorbar;
-    daspect([1 1 0.2])   % Separate Z further for more distinct layers
+    daspect([1 1 0.2]);
-    xlabel('X (log_{10} units)'); ylabel('Y (log_{10} units)'); zlabel('log_{10} Distance (m)');
+    xlabel('X (log_{10} units)'); ylabel('Y (log_{10} units)'); zlabel('log_{10} Altitude (m)');
     set(gca, 'ZDir', 'reverse');
     view(3);
     axis("vis3d");

@rfSensor/rfSensor.m

@@ -9,6 +9,8 @@ classdef rfSensor
         BW = NaN; % Bandwidth (Hz)
         f_c = NaN; % Center frequency (Hz)
         G_RX_dBi = NaN; % Receiver antenna gain
+        boresightTilt = 0;     % Antenna boresight tilt (deg): 0=nadir, 90=horizon
+        boresightAzimuth = 0;  % Antenna boresight azimuth (deg): 0=+y, 90=+x
         % Values computed at initialization
         P_TX_dBm = NaN; % Transmit power (dBm)
         N = NaN; % Thermal noise

@rfSensor/transmitterGain.m

@@ -11,11 +11,15 @@ function value = transmitterGain(obj, t, a)
         error("t and a must be the same size");
     end
 
-    n_t = 4;   % tilt beamwidth (higher = narrower beam)
+    n = 4;   % beamwidth exponent (higher = narrower beam)
-    n_a = 4;   % azimuth rolloff sharpness (higher = more directional)
 
-    % Elevation: cardioid family, null at zenith (t=180°), peak at nadir (t=0°)
+    % Angular offset from boresight via spherical law of cosines
-    % Azimuth: cardioid family, peak at a=0° (+y), null at a=180° (-y)
+    % Convention: t=0° nadir, t=90° horizon; a=0° +y, a=90° +x
-    value = 10 .* n_t .* log10((1 + cosd(t)) ./ 2) + ...
+    cos_theta = sind(obj.boresightTilt) .* sind(t) .* cosd(a - obj.boresightAzimuth) + ...
-            10 .* n_a .* log10((0.5 + 0.5 .* cosd(a)));
+                cosd(obj.boresightTilt) .* cosd(t);
+    cos_theta = max(-1, min(1, cos_theta));  % clamp for numerical safety
+    theta = acosd(cos_theta);
+
+    % Cardioid family: peak at boresight (theta=0), null opposite (theta=180°)
+    value = 10 .* n .* log10((1 + cosd(theta)) ./ 2);
 end

test/test_rfSensor.m

@@ -19,7 +19,7 @@ classdef test_rfSensor < matlab.unittest.TestCase
             f_c = 2e9; % Center frequency (Hz)
             G_RX_dBi = 3; % Receiving Antenna Gain (dBi)
 
-            tc.testClass = tc.testClass.initialize(P_TX, BW, f_c, G_RX_dBi);
+            tc.testClass = tc.testClass.initialize(P_TX, BW, f_c, G_RX_dBi, 0, 0);
 
             tc.testClass.plotParameters();
         end
@@ -30,7 +30,7 @@ classdef test_rfSensor < matlab.unittest.TestCase
             f_c = 2e9; % Center frequency (Hz)
             G_RX_dBi = 3; % Receiving Antenna Gain (dBi)
 
-            tc.testClass = tc.testClass.initialize(P_TX, BW, f_c, G_RX_dBi);
+            tc.testClass = tc.testClass.initialize(P_TX, BW, f_c, G_RX_dBi, 0, 0);
 
             altitude = 30;
 
@@ -43,7 +43,7 @@ classdef test_rfSensor < matlab.unittest.TestCase
             f_c = 2e9; % Center frequency (Hz)
             G_RX_dBi = 3; % Receiving Antenna Gain (dBi)
 
-            tc.testClass = tc.testClass.initialize(P_TX, BW, f_c, G_RX_dBi);
+            tc.testClass = tc.testClass.initialize(P_TX, BW, f_c, G_RX_dBi, 0, 0);
 
             altitude = 30;
             otherSensorsPos = [6, -4, -1]; % relative to main sensor
@@ -60,7 +60,7 @@ classdef test_rfSensor < matlab.unittest.TestCase
             f_c = 2e9; % Center frequency (Hz)
             G_RX_dBi = 3; % Receiving Antenna Gain (dBi)
 
-            tc.testClass = tc.testClass.initialize(P_TX, BW, f_c, G_RX_dBi);
+            tc.testClass = tc.testClass.initialize(P_TX, BW, f_c, G_RX_dBi, 0, 0);
 
             altitude = 30;
             otherSensorsPos = [6, -4, -1; -2, 6, 0]; % relative to main sensor
@@ -69,8 +69,8 @@ classdef test_rfSensor < matlab.unittest.TestCase
             otherSensors{2} = rfSensor;
 
             % Must use same center frequency and bandwidth for interference sources
-            otherSensors{1} = otherSensors{1}.initialize(10 * P_TX, BW, f_c, G_RX_dBi);
+            otherSensors{1} = otherSensors{1}.initialize(10 * P_TX, BW, f_c, G_RX_dBi, 0, 0);
-            otherSensors{2} = otherSensors{2}.initialize(100 * P_TX, BW, f_c, G_RX_dBi);
+            otherSensors{2} = otherSensors{2}.initialize(10 * P_TX, BW, f_c, G_RX_dBi, 0, 0);
 
             tc.testClass.plotPerformance(altitude, otherSensorsPos, otherSensors);
         end