📄 sim43.mdl
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SampleTime "-1"
VectorParams1D on
}
Block {
BlockType Selector
InputType "Vector"
IndexMode "One-based"
ElementSrc "Internal"
Elements "1"
RowSrc "Internal"
Rows "1"
ColumnSrc "Internal"
Columns "1"
InputPortWidth "-1"
IndexIsStartValue off
OutputPortSize "1"
}
Block {
BlockType StateSpace
A "1"
B "1"
C "1"
D "1"
X0 "0"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType SubSystem
ShowPortLabels on
Permissions "ReadWrite"
PermitHierarchicalResolution "All"
SystemSampleTime "-1"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Terminator
}
Block {
BlockType ToWorkspace
VariableName "simulink_output"
MaxDataPoints "1000"
Decimation "1"
SampleTime "0"
FixptAsFi off
}
Block {
BlockType UnitDelay
X0 "0"
SampleTime "1"
StateMustResolveToSignalObject off
RTWStateStorageClass "Auto"
}
Block {
BlockType ZeroOrderHold
SampleTime "1"
}
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
}
LineDefaults {
FontName "Helvetica"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "Sim43"
Location [0, 74, 1012, 743]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType ToWorkspace
Name "Actual Position"
Position [385, 55, 455, 75]
Orientation "up"
ForegroundColor "red"
VariableName "XYCoords"
MaxDataPoints "inf"
SaveFormat "Array"
}
Block {
BlockType Constant
Name "Actual Speed"
Position [200, 330, 235, 350]
ForegroundColor "red"
Value "Speed"
}
Block {
BlockType SubSystem
Name "Cartesian to Polar"
Ports [2, 2]
Position [450, 140, 505, 220]
DropShadow on
ShowPortLabels off
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskType "[x,y]->[r,theta]"
MaskDescription "Tranformation from cartesian to polar\ncoordina"
"tes.\nr=sqrt(x^2+y^2), theta=atan(y/x)"
MaskHelp "Unmask this block for more help."
MaskDisplay "plot(0,0,100,100,[24,20,15,20,20],[85,95,85,95,"
"20],[80,20,95,85,95,85],[70,20,20,15,20,24],[56,56,55,52,50,46],[20,26,31,35,"
"38,42])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
Port {
PortNumber 1
Name "Range"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
ShowSigGenPortName on
}
Port {
PortNumber 2
Name "Bearing"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
ShowSigGenPortName on
}
System {
Name "Cartesian to Polar"
Location [2, 78, 1022, 717]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "x"
Position [75, 125, 95, 145]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Inport
Name "y"
Position [75, 244, 95, 266]
Port "2"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [160, 173, 205, 217]
BackgroundColor "[0.501961, 0.000000, 1.000000]"
Inputs "2"
}
Block {
BlockType Fcn
Name "x->r"
Position [255, 137, 370, 173]
BackgroundColor "magenta"
Expr "hypot(u[1],u[2])"
}
Block {
BlockType Fcn
Name "x->theta"
Position [260, 224, 370, 256]
BackgroundColor "magenta"
Expr "atan2(u[2],u[1])"
}
Block {
BlockType Outport
Name "r"
Position [400, 145, 420, 165]
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Block {
BlockType Outport
Name "theta"
Position [400, 230, 420, 250]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -40]
DstBlock "x->r"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "x->theta"
DstPort 1
}
}
Line {
SrcBlock "x->r"
SrcPort 1
DstBlock "r"
DstPort 1
}
Line {
SrcBlock "x->theta"
SrcPort 1
DstBlock "theta"
DstPort 1
}
Line {
SrcBlock "x"
SrcPort 1
Points [25, 0; 0, 50]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "y"
SrcPort 1
Points [25, 0; 0, -50]
DstBlock "Mux"
DstPort 2
}
Annotation {
Name "Cartesian to Polar"
Position [247, 87]
VerticalAlignment "top"
FontName "Arial"
FontSize 12
}
}
}
Block {
BlockType Integrator
Name "Cross\nAxis\nPosition\n"
Ports [1, 1]
Position [370, 137, 395, 183]
BackgroundColor "cyan"
Port {
PortNumber 1
Name "y"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
ShowSigGenPortName on
}
}
Block {
BlockType SubSystem
Name "Cross-Axis\nAcceleration Model"
Ports [1, 1]
Position [200, 135, 230, 185]
BackgroundColor "cyan"
DropShadow on
ShowPortLabels off
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "Cross-Axis\nAcceleration Model"
Location [282, 221, 803, 443]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "cyan"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "Inport"
Position [70, 65, 90, 85]
ForegroundColor "red"
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Gain
Name "Gain"
Position [180, 120, 235, 150]
Orientation "left"
Gain "1/tauc"
}
Block {
BlockType Gain
Name "Gain1"
Position [315, 72, 340, 98]
Gain "g"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [205, 71, 235, 99]
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [145, 67, 165, 98]
Inputs "+-"
}
Block {
BlockType Outport
Name "out_1"
Position [370, 75, 390, 95]
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Line {
SrcBlock "Inport"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [-70, 0; 0, -45]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [25, 0]
Branch {
DstBlock "Gain1"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "Gain"
DstPort 1
}
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "out_1"
DstPort 1
}
Annotation {
Position [390, 25]
}
}
}
Block {
BlockType Integrator
Name "Cross-Axis\nVelocity"
Ports [1, 1]
Position [290, 138, 315, 182]
BackgroundColor "cyan"
Port {
PortNumber 1
Name "ydot"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
ShowSigGenPortName on
}
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 2]
Position [140, 185, 145, 240]
ForegroundColor "red"
BackgroundColor "black"
ShowName off
Outputs "2"
}
Block {
BlockType ToWorkspace
Name "Est. Position\n[x, xdot, y, ydot]"
Position [760, 189, 840, 211]
ForegroundColor "green"
VariableName "X_hat"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType Integrator
Name "Long.\nPosition"
Ports [1, 1]
Position [370, 253, 395, 297]
BackgroundColor "magenta"
Port {
PortNumber 1
Name "x"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
ShowSigGenPortName on
}
}
Block {
BlockType Integrator
Name "Long.\nVelocity"
Ports [2, 1]
Position [285, 254, 330, 296]
BackgroundColor "magenta"
InitialConditionSource "external"
Port {
PortNumber 1
Name "xdot"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
ShowSigGenPortName on
}
}
Block {
BlockType StateSpace
Name "Meas. Noise\nIntensity"
Position [550, 274, 575, 306]
A "[]"
B "[]"
C "[]"
D "K"
MaskType "Matrix Gain"
MaskDescription "Matrix Gain."
MaskHelp "Multiplies input vector by entered matrix to pr"
"oduce output vector (y=Au)."
MaskPromptString "Gain matrix:"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskToolTipString "on"
MaskInitialization "K = @1;"
MaskDisplay "disp('K')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "[300 0; 0 .01]"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [555, 140, 560, 220]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [401, 120, 439, 125]
Orientation "up"
NamePlacement "alternate"
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "Radar\nKalman Filter"
Ports [1, 2]
Position [650, 132, 735, 223]
ForegroundColor "green"
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "Radar\nKalman Filter"
Location [2, 82, 1014, 721]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
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