# $Revision: 1.1.6.1 $
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  Description		  "Radar tracking Demonstration \n\nThis demonstration"
" shows how to use an extended Kalman filter to estimate an\naircraft's positi"
"on from radar measurements. The filter implementation is found \nin the M-fil"
"e aero_extkalman.m.  The vehicle model is vectorized so that all\n3 degrees o"
"f freedom are computed using one set of blocks.\n\nAt the end of the simulati"
"on, three figures display the following information. The \nactual trajectory "
"compared to the estimated trajectory The estimation residual \nfor range The "
"actual, measured, and estimated position\n\n"
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"end\nclear radarLogsOut"
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  Created		  "Tue May 18 14:42:29 1999"
  Creator		  "The MathWorks Inc."
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	  ShowName		  off
	  FontName		  "Arial"
	  SourceBlock		  "simulink/Model-Wide\nUtilities/Model Info"
	  SourceType		  "CMBlock"
	  ShowPortLabels	  "on"
	  InitialBlockCM	  "none"
	  BlockCM		  "none"
	  Frame			  "on"
	  DisplayStringWithTags	  "Model Description:\n-------------------\n\n"
"%<Description>"
	  MaskDisplayString	  "Model Description:\\n-------------------\\n"
"\\nRadar tracking Demonstration \\n\\nThis demonstration shows how to use an "
"extended Kalman filter to estimate an\\naircraft's position from radar measur"
"ements. The filter implementation is found \\nin the M-file aero_extkalman.m."
"  The vehicle model is vectorized so that all\\n3 degrees of freedom are comp"
"uted using one set of blocks.\\n\\nAt the end of the simulation, three figure"
"s display the following information. The \\nactual trajectory compared to the"
" estimated trajectory The estimation residual \\nfor range The actual, measur"
"ed, and estimated position\\n\\n"
	  HorizontalTextAlignment "Left"
	  LeftAlignmentValue	  "0.02"
	  SourceBlockDiagram	  "sldemo_radar"
	  TagMaxNumber		  "20"
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Radar\nKalman Filter"
      Ports		      [1, 2]
      Position		      [605, 112, 720, 203]
      ForegroundColor	      "green"
      TreatAsAtomicUnit	      on
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      Port {
	PortNumber		1
	Name			"residual"
	TestPoint		on
	RTWStorageClass		"Auto"
	DataLogging		on
	DataLoggingNameMode	"SignalName"
	ShowSigGenPortName	on
      }
      Port {
	PortNumber		2
	Name			"X_hat"
	TestPoint		on
	RTWStorageClass		"Auto"
	DataLogging		on
	DataLoggingNameMode	"SignalName"
	ShowSigGenPortName	on
      }
      System {
	Name			"Radar\nKalman Filter"
	Location		[376, 86, 1239, 476]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "meas"
	  Position		  [40, 48, 70, 62]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Constant
	  Name			  "\n"
	  Position		  [160, 120, 200, 140]
	  Orientation		  "up"
	  ForegroundColor	  "green"
	  Value			  "deltat"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "Extended\nKalman Filter"
	  Position		  [280, 34, 370, 96]
	  ForegroundColor	  "green"
	  MATLABFcn		  "aero_extkalman"
	  OutputDimensions	  "23"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux2"
	  Ports			  [3, 1]
	  Position		  [235, 47, 240, 83]
	  ForegroundColor	  "green"
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  UnitDelay
	  Name			  "Previous\nxhat and \nCovariance Matrix"
	  Position		  [305, 154, 345, 196]
	  Orientation		  "left"
	  ForegroundColor	  "green"
	  X0			  "[0.001; 0.01; 0.001; 400; zeros(16,1)]"
	  SampleTime		  "deltat"
	}
	Block {
	  BlockType		  SignalConversion
	  Name			  "Signal\nConversion1"
	  Position		  [610, 44, 650, 86]
	  ConversionOutput	  "Contiguous copy"
	  OverrideOpt		  on
	}
	Block {
	  BlockType		  SignalConversion
	  Name			  "Signal\nConversion2"
	  Position		  [610, 154, 650, 196]
	  ConversionOutput	  "Contiguous copy"
	  OverrideOpt		  on
	}
	Block {
	  BlockType		  Selector
	  Name			  "Vector\nSelection1"
	  Ports			  [1, 1]
	  Position		  [525, 45, 570, 85]
	  ForegroundColor	  "green"
	  AttributesFormatString  "elts = %<Elements>"
	  Elements		  "[1,2]"
	  InputPortWidth	  "23"
	}
	Block {
	  BlockType		  Selector
	  Name			  "Vector\nSelection2"
	  Ports			  [1, 1]
	  Position		  [395, 155, 440, 195]
	  Orientation		  "left"
	  ForegroundColor	  "green"
	  AttributesFormatString  "elts = %<Elements>"
	  Elements		  "[3:22]"
	  InputPortWidth	  "23"
	}
	Block {
	  BlockType		  Selector
	  Name			  "Vector\nSelection3"
	  Ports			  [1, 1]
	  Position		  [525, 155, 570, 195]
	  ForegroundColor	  "green"
	  AttributesFormatString  "elts = %<Elements>"
	  Elements		  "[3,4,5,6]"
	  InputPortWidth	  "23"
	}
	Block {
	  BlockType		  Outport
	  Name			  "residual"
	  Position		  [690, 58, 720, 72]
	  ForegroundColor	  "green"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	  InitialOutput		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "xhat Out"
	  Position		  [690, 168, 720, 182]
	  ForegroundColor	  "green"
	  Port			  "2"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "Vector\nSelection1"
	  SrcPort		  1
	  DstBlock		  "Signal\nConversion1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux2"
	  SrcPort		  1
	  DstBlock		  "Extended\nKalman Filter"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Previous\nxhat and \nCovariance Matrix"
	  SrcPort		  1
	  Points		  [-155, 0; 0, -110]
	  DstBlock		  "Mux2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "\n"
	  SrcPort		  1
	  Points		  [0, -40]
	  DstBlock		  "Mux2"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Vector\nSelection3"
	  SrcPort		  1
	  DstBlock		  "Signal\nConversion2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Extended\nKalman Filter"
	  SrcPort		  1
	  Points		  [0, 0; 105, 0]
	  Branch {
	    Points		    [0, 110]
	    Branch {
	      DstBlock		      "Vector\nSelection3"
	      DstPort		      1
	    }
	    Branch {
	      DstBlock		      "Vector\nSelection2"
	      DstPort		      1
	    }
	  }
	  Branch {
	    DstBlock		    "Vector\nSelection1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "meas"
	  SrcPort		  1
	  DstBlock		  "Mux2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Vector\nSelection2"
	  SrcPort		  1
	  DstBlock		  "Previous\nxhat and \nCovariance Matrix"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Signal\nConversion1"
	  SrcPort		  1
	  DstBlock		  "residual"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Signal\nConversion2"
	  SrcPort		  1
	  DstBlock		  "xhat Out"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Reference
      Name		      "Radar \nMeasurment\nNoise"
      Ports		      [0, 1]
      Position		      [40, 209, 80, 241]
      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\naircraft\nmotion"
      Ports		      [0, 1]
      Position		      [40, 77, 80, 113]
      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		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [435, 145, 465, 175]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "2"
      Port {
	PortNumber		1
	Name			"PolarCoords"
	TestPoint		on
	RTWStorageClass		"Auto"
	DataLogging		on
	DataLoggingNameMode	"SignalName"
	ShowSigGenPortName	on
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "XY\nAccleration\nModel"
      Ports		      [1, 1]
      Position		      [115, 76, 155, 114]
      BackgroundColor	      "[0.956863, 1.000000, 0.666667]"
      DropShadow	      on
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      System {
	Name			"XY\nAccleration\nModel"
	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			  "F"
	  Position		  [55, 62, 85, 78]
	  ForegroundColor	  "red"
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain2"
	  Position		  [150, 120, 275, 180]
	  Orientation		  "left"
	  Gain			  "[ 1/tauc, 1/tauT ]"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gravity"
	  Position		  [335, 64, 370, 96]
	  Gain			  "g"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator1"
	  Ports			  [1, 1]
	  Position		  [245, 66, 275, 94]
	  IgnoreLimit		  off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1]
	  Position		  [145, 62, 165, 93]
	  Inputs		  "+-"
	}
	Block {
	  BlockType		  Outport
	  Name			  "a"
	  Position		  [400, 72, 430, 88]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "F"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain2"
	  SrcPort		  1
	  Points		  [-42, 0; 0, -65]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Integrator1"
	  SrcPort		  1
	  Points		  [0, 0; 23, 0]
	  Branch {
	    DstBlock		    "Gravity"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 70]
	    DstBlock		    "Gain2"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Integrator1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gravity"
	  SrcPort		  1
	  DstBlock		  "a"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "XY to\nRange-Bearing"
      Ports		      [1, 1]
      Position		      [365, 70, 415, 120]
      BackgroundColor	      "[0.956863, 1.000000, 0.666667]"
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskType		      "xy2rtheta"
      MaskDescription	      "Vector transformation from cartesian to polar c"
"oordinates.\ninput:   [x, y]\noutput: [r, theta]\n\nr = hypot(x,y));\ntheta ="
" atan2(y,x);"
      MaskHelp		      "Use \"Look under mask\" to see the implementati"
"on, done in Simulink blocks."
      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"
      System {
	Name			"XY to\nRange-Bearing"
	Location		[136, 183, 495, 389]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "XY"
	  Position		  [25, 77, 60, 93]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Ports			  [1, 2]
	  Position		  [100, 58, 110, 107]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux1"
	  Ports			  [1, 2]
	  Position		  [100, 128, 110, 177]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [2, 1]
	  Position		  [355, 52, 365, 188]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  InportShadow
	  Name			  "XY1"
	  Position		  [25, 147, 60, 163]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Trigonometry
	  Name			  "bearing"
	  Ports			  [2, 1]
	  Position		  [220, 128, 270, 177]
	  Operator		  "atan2"
	}
	Block {
	  BlockType		  Math
	  Name			  "range"
	  Ports			  [2, 1]
	  Position		  [220, 58, 270, 107]
	  Operator		  "hypot"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Rth"
	  Position		  [415, 112, 450, 128]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Rth"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "range"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "XY"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  DstBlock		  "range"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  DstBlock		  "range"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "XY1"
	  SrcPort		  1
	  DstBlock		  "Demux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "bearing"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Demux1"
	  SrcPort		  1
	  Points		  [30, 0; 35, 25]
	  DstBlock		  "bearing"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Demux1"
	  SrcPort		  2
	  Points		  [30, 0; 35, -25]
	  DstBlock		  "bearing"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Integrator
      Name		      "XYPosition"
      Ports		      [1, 1]
      Position		      [270, 76, 305, 114]
      BackgroundColor	      "[0.956863, 1.000000, 0.666667]"
      IgnoreLimit	      off
      Port {
	PortNumber		1
	Name			"XYCoords"
	TestPoint		on
	RTWStorageClass		"Auto"
	DataLogging		on
	DataLoggingNameMode	"SignalName"
	ShowSigGenPortName	on
      }
    }
    Block {
      BlockType		      Integrator
      Name		      "XYVelocity"
      Ports		      [1, 1]
      Position		      [190, 76, 225, 114]
      BackgroundColor	      "[0.956863, 1.000000, 0.666667]"
      InitialCondition	      "[0, Speed]"
      IgnoreLimit	      off
      Port {
	PortNumber		1
	Name			"xydot"
	RTWStorageClass		"Auto"
	DataLoggingNameMode	"SignalName"
	ShowSigGenPortName	on
      }
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "ZOH"
      Position		      [540, 145, 570, 175]
      ForegroundColor	      "green"
      SampleTime	      "deltat"
    }
    Block {
      BlockType		      Outport
      Name		      "Residuals"
      Position		      [780, 128, 810, 142]
      IconDisplay	      "Port number"
      BusOutputAsStruct	      off
    }
    Block {
      BlockType		      Outport
      Name		      "Est. Position\n[x, xdot, y, ydot]"
      Position		      [780, 173, 810, 187]
      Port		      "2"
      IconDisplay	      "Port number"
      BusOutputAsStruct	      off
    }
    Line {
      Name		      "XYCoords"
      Labels		      [0, 0; 0, 0; 0, 0; 0, 0; 0, 0]
      SrcBlock		      "XYPosition"
      SrcPort		      1
      DstBlock		      "XY to\nRange-Bearing"
      DstPort		      1
    }
    Line {
      SrcBlock		      "XY to\nRange-Bearing"
      SrcPort		      1
      Points		      [30, 0]
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      Name		      "PolarCoords"
      Labels		      [0, 0]
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "ZOH"
      DstPort		      1
    }
    Line {
      Name		      "xydot"
      Labels		      [0, 0; 0, 0; 0, 0; 0, 0; 0, 0; 0, 0]
      SrcBlock		      "XYVelocity"
      SrcPort		      1
      DstBlock		      "XYPosition"
      DstPort		      1
    }
    Line {
      SrcBlock		      "XY\nAccleration\nModel"
      SrcPort		      1
      DstBlock		      "XYVelocity"
      DstPort		      1
    }
    Line {
      Name		      "residual"
      Labels		      [0, 0]
      SrcBlock		      "Radar\nKalman Filter"
      SrcPort		      1
      DstBlock		      "Residuals"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Random\naircraft\nmotion"
      SrcPort		      1
      DstBlock		      "XY\nAccleration\nModel"
      DstPort		      1
    }
    Line {
      Name		      "X_hat"
      Labels		      [0, 0]
      SrcBlock		      "Radar\nKalman Filter"
      SrcPort		      2
      DstBlock		      "Est. Position\n[x, xdot, y, ydot]"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Radar \nMeasurment\nNoise"
      SrcPort		      1
      DstBlock		      "Meas. noise\nintensity"
      DstPort		      1
    }
    Line {
      Name		      "Measurement_noise"
      Labels		      [0, 0]
      SrcBlock		      "Meas. noise\nintensity"
      SrcPort		      1
      Points		      [145, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "ZOH"
      SrcPort		      1
      DstBlock		      "Radar\nKalman Filter"
      DstPort		      1
    }
    Annotation {
      Name		      "Radar Tracking Demonstration"
      Position		      [409, 25]
      FontName		      "Arial"
      FontSize		      18
      FontWeight	      "bold"
    }
  }
}

# Finite State Machines
#
#    Stateflow Version 6.2 (R14SP2) dated Jan 21 2005, 03:46:19
#
#

Stateflow {

	machine {
		id                   		1
		name                 		"sldemo_radar"
		created              		"05-Mar-2003 11:55:40"
		isLibrary            		0
		firstTarget          		2
		sfVersion            		62014000
		sfDemoChecksum       		[3608240946 1782078800 2518399552 826293299]
	}

	target {
		id                        		2
		name                      		"sfun"
		description               		"Default Simulink S-Function Target."
		codeFlags                 		" debug=1 overflow=1 echo=1"
		machine                   		1
		linkNode                  		[1 0 3]
	}

	target {
		id                        		3
		name                      		"rtw"
		codeFlags                 		" comments=1 statebitsets=1 databitsets=1 emitlogicalops=1 el"
						"seifdetection=1 constantfolding=1 redundantloadelimination=0"
						" preserveconstantnames=0 preservenames=0 preservenameswithpa"
						"rent=0 exportcharts=0"
		machine                   		1
		linkNode                  		[1 2 0]
	}
}