# $Revision: 1.2 $ Model { Name "aero_radmod" Version 6.2 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.25" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "US-ASCII" PreLoadFcn "aero_raddat;" SaveDefaultBlockParams on SampleTimeColors on LibraryLinkDisplay "none" WideLines on ShowLineDimensions on ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "d" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip on BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off CloseFcn "h=findobj('type','figure');if ~isempty(h);close(h);" "end" StopFcn "aero_radplot;" Created "Tue May 18 14:42:29 1999" Creator "The MathWorks Inc." UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "batserve" ModifiedDateFormat "%" LastModifiedDate "Sat Jan 22 19:08:01 2005" ModelVersionFormat "1.%" ConfigurationManager "none" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "oneshot" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect off ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock off BufferReuse on StrictBusMsg "None" ProdHWDeviceType "32-bit Generic" ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.1.0" Array { Type "Handle" Dimension 7 Simulink.SolverCC { $ObjectID 2 Version "1.1.0" StartTime "0.0" StopTime "100" AbsTol "1e-6" FixedStep "0.1" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "0.1" MinStep "auto" RelTol "1e-3" SolverMode "SingleTasking" Solver "ode5" SolverName "ode5" ZeroCrossControl "UseLocalSettings" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" RateTranMode "Deterministic" } Simulink.DataIOCC { $ObjectID 3 Version "1.1.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints off MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput off SaveState off SignalLogging on SaveTime on StateSaveName "xout" TimeSaveName "t_sim" OutputSaveName "yout" SignalLoggingName "logsout" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Array { Type "Cell" Dimension 5 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "InitFltsAndDblsToZero" Cell "OptimizeModelRefInitCode" Cell "NoFixptDivByZeroProtection" PropName "DisabledProps" } Version "1.1.0" BlockReduction off BooleanDataType off ConditionallyExecuteInputs on InlineParams off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnforceIntegerDowncast on ExpressionFolding on FoldNonRolledExpr on LocalBlockOutputs on ParameterPooling on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off EfficientFloat2IntCast off OptimizeModelRefInitCode off LifeSpan "inf" BufferReusableBoundary on } Simulink.DebuggingCC { $ObjectID 5 Version "1.1.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "TryResolveAllWithWarning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" SolverPrmCheckMsg "none" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "warning" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterPrecisionLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" ModelReferenceSimTargetVerbose off UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" } Simulink.HardwareCC { $ObjectID 6 Version "1.1.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown on ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.1.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Array { Type "Cell" Dimension 1 Cell "IncludeHyperlinkInReport" PropName "DisabledProps" } Version "1.1.0" SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw OPTS=-D" TemplateMakefile "grt_vc.tmf" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ConfigAtBuild off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Array { Type "Cell" Dimension 9 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" PropName "DisabledProps" } Version "1.1.0" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off PrefixModelToSubsysFcnNames on CustomSymbolStr "$R$N$M" MangleLength 1 DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 10 Array { Type "Cell" Dimension 12 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" PropName "DisabledProps" } Version "1.1.0" TargetFcnLib "ansi_tfl_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off IsPILTarget off ModelReferenceCompliant on IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" SimulationMode "normal" CurrentDlgPage "Real-Time Workshop" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Constant Value "1" VectorParams1D on OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" } Block { BlockType Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType Fcn Expr "sin(u[1])" SampleTime "-1" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParameterDataTypeMode "Same as input" ParameterDataType "sfix(16)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "2^0" OutDataTypeMode "Same as input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Inport UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" IgnoreLimit off ZeroCross on } Block { BlockType MATLABFcn MATLABFcn "sin" OutputDimensions "-1" OutputSignalType "auto" Output1D on SampleTime "-1" } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType RandomNumber Mean "0" Variance "1" Seed "0" 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 "aero_radmod" Location [125, 125, 932, 552] 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 [325, 60, 395, 80] Orientation "up" ForegroundColor "red" VariableName "XYCoords" MaxDataPoints "inf" SaveFormat "Array" } Block { BlockType Constant Name "Actual Speed" Position [140, 320, 175, 340] ForegroundColor "red" Value "Speed" } Block { BlockType SubSystem Name "Cartesian to Polar" Ports [2, 2] Position [390, 130, 445, 210] 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 [35, 84, 394, 266] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "x" Position [20, 70, 40, 90] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "y" Position [20, 129, 40, 151] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [75, 96, 105, 129] Inputs "2" } Block { BlockType Fcn Name "x->r" Position [155, 72, 260, 98] Expr "hypot(u[1],u[2])" } Block { BlockType Fcn Name "x->theta" Position [160, 129, 265, 151] Expr "atan2(u[2],u[1])" } Block { BlockType Outport Name "r" Position [295, 75, 315, 95] IconDisplay "Port number" InitialOutput "0" } Block { BlockType Outport Name "theta" Position [295, 130, 315, 150] Port "2" IconDisplay "Port number" InitialOutput "0" } Line { SrcBlock "Mux" SrcPort 1 Points [15, 0] Branch { Points [0, -30] DstBlock "x->r" DstPort 1 } Branch { Points [0, 25] DstBlock "x->theta" DstPort 1 } } Line { SrcBlock "x->r" SrcPort 1 DstBlock "r" DstPort 1 } Line { SrcBlock "x" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "y" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "x->theta" SrcPort 1 DstBlock "theta" DstPort 1 } Annotation { Name "Cartesian to Polar" Position [167, 37] VerticalAlignment "top" } } } Block { BlockType Integrator Name "Cross\nAxis\nPosition\n" Ports [1, 1] Position [310, 127, 335, 173] 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 [140, 125, 170, 175] BackgroundColor "cyan" DropShadow on ShowPortLabels off TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "Cross-Axis\nAcceleration Model" Location [160, 166, 587, 346] 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" 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 } } } Block { BlockType Integrator Name "Cross-Axis\nVelocity" Ports [1, 1] Position [245, 128, 270, 172] BackgroundColor "cyan" Port { PortNumber 1 Name "ydot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType Demux Name "Demux" Ports [1, 2] Position [80, 175, 85, 230] ForegroundColor "red" BackgroundColor "black" ShowName off Outputs "2" } Block { BlockType ToWorkspace Name "Est. Position\n[x, xdot, y, ydot]" Position [700, 179, 780, 201] ForegroundColor "green" VariableName "X_hat" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType Integrator Name "Long.\nPosition" Ports [1, 1] Position [310, 243, 335, 287] BackgroundColor "magenta" Port { PortNumber 1 Name "x" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType Integrator Name "Long.\nVelocity" Ports [2, 1] Position [225, 244, 270, 286] BackgroundColor "magenta" InitialConditionSource "external" Port { PortNumber 1 Name "xdot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType StateSpace Name "Meas. Noise\nIntensity" Position [490, 264, 515, 296] 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 [495, 130, 500, 210] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" Ports [2, 1] Position [341, 110, 379, 115] Orientation "up" NamePlacement "alternate" ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType SubSystem Name "Radar\nKalman Filter" Ports [1, 2] Position [590, 122, 675, 213] ForegroundColor "green" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "Radar\nKalman Filter" Location [227, 260, 844, 519] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "Measurements" Position [25, 43, 55, 57] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Constant Name "\n" Position [175, 105, 215, 125] Orientation "up" ForegroundColor "green" Value "deltat" } Block { BlockType Demux Name "Demux1" Ports [1, 3] Position [370, 38, 375, 82] ForegroundColor "green" BackgroundColor "black" ShowName off Outputs "[2 20 1]" } Block { BlockType MATLABFcn Name "Extended\nKalman Filter" Position [265, 45, 325, 75] ForegroundColor "green" MATLABFcn "aero_extkalman" OutputDimensions "23" } Block { BlockType Mux Name "Mux2" Ports [3, 1] Position [220, 42, 225, 78] ForegroundColor "green" ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType UnitDelay Name "Previous\nxhat and \nCovariance Matrix" Position [300, 125, 330, 155] Orientation "left" ForegroundColor "green" X0 "[0.001; 0.01; 0.001; 400; zeros(16,1)]" SampleTime "deltat" } Block { BlockType Selector Name "Selector" Ports [1, 1] Position [480, 73, 520, 207] ForegroundColor "green" ShowName off Elements "[1:4]" InputPortWidth "20" } Block { BlockType Terminator Name "Terminator" Position [390, 95, 410, 115] Orientation "down" ForegroundColor "green" NamePlacement "alternate" ShowName off } Block { BlockType ZeroOrderHold Name "Zero-Order\nHold" Position [95, 35, 125, 65] ForegroundColor "green" SampleTime "deltat" } Block { BlockType Outport Name "Resid." Position [560, 38, 590, 52] ForegroundColor "green" IconDisplay "Port number" InitialOutput "0" } Block { BlockType Outport Name "Est. Pos." Position [565, 133, 595, 147] ForegroundColor "green" Port "2" IconDisplay "Port number" 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 [55, 0; 0, 80] Branch { DstBlock "Previous\nxhat and \nCovariance Matrix" DstPort 1 } Branch { DstBlock "Selector" DstPort 1 } } Line { SrcBlock "\n" SrcPort 1 Points [0, -30] DstBlock "Mux2" DstPort 3 } Line { SrcBlock "Previous\nxhat and \nCovariance Matrix" SrcPort 1 Points [-135, 0; 0, -80] DstBlock "Mux2" DstPort 2 } Line { SrcBlock "Mux2" SrcPort 1 DstBlock "Extended\nKalman Filter" DstPort 1 } Line { SrcBlock "Demux1" SrcPort 3 Points [20, 0] DstBlock "Terminator" DstPort 1 } Annotation { Name "Update Time" Position [251, 117] } } } Block { BlockType Reference Name "Radar \nMeasurment\nNoise" Ports [0, 1] Position [405, 264, 445, 296] 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 [25, 188, 55, 222] 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 [700, 134, 780, 156] ForegroundColor "green" VariableName "residual" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "Send Radar Meas. Noise\n to Workspace" Position [585, 270, 685, 290] ForegroundColor "red" VariableName "Measurement_noise" MaxDataPoints "inf" SaveFormat "Array" } Block { BlockType ToWorkspace Name "Send Radar Range andBearing\n Angle Meas. to Wo" "rkspace" Position [530, 60, 600, 80] Orientation "up" ForegroundColor "red" VariableName "PolarCoords" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [515, 155, 545, 185] ShowName off IconShape "round" Inputs "|++" } Block { BlockType SubSystem Name "Thrust-Axis\nAccleration Model" Ports [1, 1] Position [140, 230, 170, 280] BackgroundColor "magenta" DropShadow on ShowPortLabels off TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "Thrust-Axis\nAccleration Model" Location [96, 385, 537, 564] 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" 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, 0] 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 [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 [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 { 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 } } Annotation { Name "Data is automatically loaded at the simulation " "start from the file \n\"aero_raddat.m\"\nusing an external function call in t" "his model's PreLoadFcn\n(type 'help set_param' for more info)." Position [416, 383] BackgroundColor "yellow" DropShadow on FontName "Arial" FontWeight "bold" FontAngle "italic" } Annotation { Name "Extended Kalman Filter To Estimate Aircraft Pos" "ition From Radar Measurements\n(See aero_extkalman.m for implementation of fi" "lter)" Position [408, 28] FontName "Arial" FontSize 16 FontWeight "bold" FontAngle "italic" } } }