📄 sim43.mdl
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PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "Measurements"
Position [35, 89, 75, 111]
BackgroundColor "[0.501961, 0.501961, 1.000000]"
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Constant
Name "\n"
Position [210, 170, 250, 190]
Orientation "up"
ForegroundColor "green"
BackgroundColor "[0.501961, 0.501961, 1.000000]"
Value "deltat"
}
Block {
BlockType Demux
Name "Demux1"
Ports [1, 3]
Position [445, 90, 450, 140]
ForegroundColor "green"
BackgroundColor "black"
ShowName off
Outputs "[2 20 1]"
}
Block {
BlockType MATLABFcn
Name "Extended\nKalman Filter"
Position [325, 95, 395, 135]
ForegroundColor "green"
BackgroundColor "magenta"
MATLABFcn "aero_extkalman"
OutputDimensions "23"
}
Block {
BlockType Mux
Name "Mux2"
Ports [3, 1]
Position [280, 89, 285, 141]
ForegroundColor "green"
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType UnitDelay
Name "Previous\nxhat and \nCovariance Matrix"
Position [355, 210, 400, 260]
Orientation "left"
ForegroundColor "green"
BackgroundColor "[0.000000, 1.000000, 0.250980]"
X0 "[0.001; 0.01; 0.001; 400; zeros(16,1)]"
SampleTime "deltat"
}
Block {
BlockType Selector
Name "Selector"
Ports [1, 1]
Position [590, 168, 635, 302]
ForegroundColor "green"
BackgroundColor "[0.501961, 0.000000, 1.000000]"
ShowName off
Elements "[1:4]"
InputPortWidth "20"
}
Block {
BlockType Terminator
Name "Terminator"
Position [481, 165, 509, 195]
Orientation "down"
ForegroundColor "green"
BackgroundColor "[0.501961, 0.501961, 1.000000]"
NamePlacement "alternate"
ShowName off
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [145, 75, 185, 125]
ForegroundColor "green"
BackgroundColor "[1.000000, 0.501961, 1.000000]"
SampleTime "deltat"
}
Block {
BlockType Outport
Name "Resid."
Position [660, 89, 710, 111]
ForegroundColor "green"
BackgroundColor "[0.501961, 0.501961, 1.000000]"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Block {
BlockType Outport
Name "Est. Pos."
Position [715, 224, 760, 246]
ForegroundColor "green"
BackgroundColor "[0.501961, 0.501961, 1.000000]"
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Line {
SrcBlock "Measurements"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Extended\nKalman Filter"
SrcPort 1
DstBlock "Demux1"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "Selector"
SrcPort 1
DstBlock "Est. Pos."
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 1
DstBlock "Resid."
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 2
Points [80, 0; 0, 120]
Branch {
DstBlock "Previous\nxhat and \nCovariance Matrix"
DstPort 1
}
Branch {
DstBlock "Selector"
DstPort 1
}
}
Line {
SrcBlock "\n"
SrcPort 1
Points [0, -35]
DstBlock "Mux2"
DstPort 3
}
Line {
SrcBlock "Previous\nxhat and \nCovariance Matrix"
SrcPort 1
Points [-150, 0; 0, -120]
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Extended\nKalman Filter"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 3
Points [40, 0]
DstBlock "Terminator"
DstPort 1
}
Annotation {
Name "Update Time"
Position [306, 212]
}
}
}
Block {
BlockType Reference
Name "Radar \nMeasurment\nNoise"
Ports [0, 1]
Position [465, 274, 505, 306]
SourceBlock "simulink/Sources/Band-Limited\nWhite Noise"
SourceType "Band-Limited White Noise."
ShowPortLabels on
Cov "[1 1]"
Ts "0.1"
seed "[52341 62341]"
VectorParams1D on
}
Block {
BlockType Reference
Name "Random aircraft\nmotion"
Ports [0, 1]
Position [65, 198, 95, 232]
SourceBlock "simulink/Sources/Band-Limited\nWhite Noise"
SourceType "Band-Limited White Noise."
ShowPortLabels on
Cov "[0.001 .001]"
Ts "0.1"
seed "[58413 74925]"
VectorParams1D on
}
Block {
BlockType ToWorkspace
Name "Residuals"
Position [760, 144, 840, 166]
ForegroundColor "green"
VariableName "residual"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "Send Radar Meas. Noise\n to Workspace"
Position [645, 280, 745, 300]
ForegroundColor "red"
VariableName "Measurement_noise"
MaxDataPoints "inf"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "Send Radar Range andBearing\n Angle Meas. to Wo"
"rkspace"
Position [590, 70, 660, 90]
Orientation "up"
ForegroundColor "red"
VariableName "PolarCoords"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [575, 165, 605, 195]
ShowName off
IconShape "round"
Inputs "|++"
}
Block {
BlockType SubSystem
Name "Thrust-Axis\nAccleration Model"
Ports [1, 1]
Position [200, 240, 230, 290]
BackgroundColor "magenta"
DropShadow on
ShowPortLabels off
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "Thrust-Axis\nAccleration Model"
Location [85, 523, 526, 702]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "Force"
Position [65, 60, 85, 80]
ForegroundColor "red"
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Gain
Name "Gain2"
Position [180, 115, 235, 145]
Orientation "left"
Gain "1/tauT"
}
Block {
BlockType Gain
Name "Gain3"
Position [300, 67, 325, 93]
Gain "g"
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [205, 66, 235, 94]
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [145, 62, 165, 93]
Inputs "+-"
}
Block {
BlockType Outport
Name "Accleration"
Position [360, 70, 380, 90]
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Line {
SrcBlock "Force"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [-72, 0; 0, -45]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [23, 0]
Branch {
DstBlock "Gain3"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "Gain2"
DstPort 1
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "Gain3"
SrcPort 1
DstBlock "Accleration"
DstPort 1
}
}
}
Line {
Name "x"
Labels [0, 0; 0, 0; 0, 0; 0, 0; 0, 0]
SrcBlock "Long.\nPosition"
SrcPort 1
Points [30, 0; 0, -75]
Branch {
DstBlock "Mux1"
DstPort 2
}
Branch {
DstBlock "Cartesian to Polar"
DstPort 2
}
}
Line {
Name "Bearing"
Labels [0, 1]
SrcBlock "Cartesian to Polar"
SrcPort 2
DstBlock "Mux"
DstPort 2
}
Line {
Name "Range"
Labels [0, 0; 0, 0; 0, 0; 0, 0; 0, 0; 0, 0]
SrcBlock "Cartesian to Polar"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Radar\nKalman Filter"
DstPort 1
}
Branch {
DstBlock "Send Radar Range andBearing\n Angle Meas. to "
"Workspace"
DstPort 1
}
}
Line {
Name "y"
Labels [0, 0; 0, 0; 0, 0; 0, 0; 0, 0]
SrcBlock "Cross\nAxis\nPosition\n"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Mux1"
DstPort 1
}
Branch {
DstBlock "Cartesian to Polar"
DstPort 1
}
}
Line {
SrcBlock "Cross-Axis\nAcceleration Model"
SrcPort 1
DstBlock "Cross-Axis\nVelocity"
DstPort 1
}
Line {
Name "ydot"
Labels [0, 0; 0, 0; 0, 0; 0, 0; 0, 0; 0, 0]
SrcBlock "Cross-Axis\nVelocity"
SrcPort 1
DstBlock "Cross\nAxis\nPosition\n"
DstPort 1
}
Line {
SrcBlock "Actual Speed"
SrcPort 1
Points [25, 0; 0, -55]
DstBlock "Long.\nVelocity"
DstPort 2
}
Line {
Name "xdot"
Labels [0, 0; 0, 0; 0, 0; 0, 0; 0, 0; 0, 0]
SrcBlock "Long.\nVelocity"
SrcPort 1
DstBlock "Long.\nPosition"
DstPort 1
}
Line {
SrcBlock "Thrust-Axis\nAccleration Model"
SrcPort 1
DstBlock "Long.\nVelocity"
DstPort 1
}
Line {
SrcBlock "Radar\nKalman Filter"
SrcPort 1
DstBlock "Residuals"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [15, 0; 0, -40]
DstBlock "Cross-Axis\nAcceleration Model"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [15, 0; 0, 40]
DstBlock "Thrust-Axis\nAccleration Model"
DstPort 1
}
Line {
SrcBlock "Random aircraft\nmotion"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Radar\nKalman Filter"
SrcPort 2
DstBlock "Est. Position\n[x, xdot, y, ydot]"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Actual Position"
DstPort 1
}
Line {
SrcBlock "Radar \nMeasurment\nNoise"
SrcPort 1
DstBlock "Meas. Noise\nIntensity"
DstPort 1
}
Line {
Labels [1, 0]
SrcBlock "Meas. Noise\nIntensity"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Send Radar Meas. Noise\n to Workspace"
DstPort 1
}
Branch {
DstBlock "Sum"
DstPort 2
}
}
}
}
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