EMA3100A

Target Motion Simulator

Creating Target Tracking (TTP) Projects

 EMA3100A Target Motion Simulator

EMA3100A Target Motion Simulator, is an engineering tool for use

in any kind of motion modeling and target tracking data set
(path\trajectory) generation

In 2D Cartesian Coordinates
In 3D Cartesian Coordinates
In Polar Coordinates (Range-Azimuth)
In Polar Coordinates (Range-Elevation)
In Polar Coordinates (Azimuth-Elevation)

and with planned extensions

In Spherical Coordinates
In GPS Framework (Latitude-Longitude-Altitude)

In this slide pack we detail how to create Target Tracking Projects,

 EMA3100 Target Motion Simulator

EMA3100A Target Motion Simulator, Target Tracking Projects (TTP)

consist of mainly six basic stages

Selecting Project Type

Defining and Configuring Targets
Defining Sensor Measurement Models and Missing Data Models
Defining Trajectories, Trajectory Generating Functionals or
Combining Paths forming the Trajectory
Configuration Check
Simulation Supported with Animated or Static SimPanel
Graphical Outputs
 EMA3100A Creating Target Tracking Projects

Step 1 -Target Tracking Projects (TTP) creation start with selection

of New project item from File menu, which opens the New Project
Creation dialog
 EMA3100A Creating Target Tracking Projects

Step 2 After properly naming the project and selecting Target

Tracking as Project Type, Project Folder can be chosen from
existing directories\folders or a specific folder to hold project items
can be created
 EMA3100A Creating Target Tracking Projects

Step 3 When pressed OK, the next step is selection of Project

Type, in other words the coordinate system for intended project, in
this example we have chosen 3D coordinate system and by
pressing Configure button the next screen for Target definitions
come up
 EMA3100A Creating Target Tracking Projects

Step 4 Target Configuration is done via left panel of the dialog by

using Add Target, Remove Target and Configure Target menus by
right clicking the mouse on respective item, in this example we
created two targets
EMA3100A Creating Target Tracking Projects
 EMA3100A Creating Target Tracking Projects

Step 5 Once we added targets as Target1 and Target2, target

configuration dialog comes up by clicking Configure Target menu
item,
EMA3100A Creating Target Tracking Projects
 EMA3100A Creating Target Tracking Projects

Step 6 Target
Configuration contains data
entry blocks for Sampling
Time in milliseconds,
Activation Offset in
milliseconds, Initial Position
Offsets in x, y and z axis,
Sensor Measurement
Model, Missing Data Model
and Trajectory File
 EMA3100A Creating Target Tracking Projects

Sampling Time is the time between measurement samples

measured and entered in milliseconds, defaults is 1ms and for
extracting it from loaded file entry of -1 required

Activation Offset Assuming that time axis starts at t=0, activation

offset defines the start of motion of the target on this time axis,
default is zero

Initial Position Offsets If any offset or shift is needed in trajectory,

that is entered via initial position offsets separately for all three
axis, default is zero
 EMA3100A Creating Target Tracking Projects

Sensor Measurement Model defines the statistical sensor

measurement model characterized by second order moments, can
be applied to all trajectory or framed sections or time blocks

Missing Data Model - defines the statistical missing data model

characterized by second order moments, can be applied to all
trajectory or framed sections or time blocks

Trajectory File Can be created during the target configuration but

most of the time load of pre created trajectory files are more
favorable

After completing configuration for all added targets, the next step is
configuration consistency check, when pressed OK in Target
Configuration screen it starts.
 EMA3100A Creating Target Tracking Projects

Step 7 Configuration Consistency Check is done for checking

configuration errors and produces necessary warning and error
messages by going through all added targets, entered values and
loaded files
 EMA3100A Creating Target Tracking Projects

Step 8 After successful completion of Configuration Check a

dialog ask for start of Simulator, if OK button is pressed the
SimPanel is shown up (and the simulator starts running if Start
button pressed on SimPanel), if Cancel button is pressed then the
simulator can be run later by clicking Launch SimPanel menu item
EMA3100A Creating Target Tracking Projects
 EMA3100A Creating Target Tracking Projects

Step 9 SimPanel consist of an Activity/Progress Monitor and

selections for outputs, when Start button pressed the simulator
starts running, does necessary computations and automatically
launch the GraphPanel

On GraphPanel sections allows user to select Items to Show as

True Motion
Sensor Measurement
Sensor Measurement with Missing Data
type of the graph as
T-Static (showing static trajectory)
T-Animated (showing animated trajectory)
M-Animated (showing motion of target alone)
and selection of targets for which the graphs should be produced.
EMA3100A Creating Target Tracking Projects
 EMA3100A Creating Target Tracking Projects

For the selected target, to see sensor measurement output from

Items to Show Sensor Measurement item should be selected,
similarly to see sensor measurement output with missing data from
Items to Show SM with Missing Data item should be selected,

Next two slides show sample outputs for the sensor measurement
output and sensor measurement with missing data output for the
true motion obtained in previous slide for this example

Sensor Measurement model and Missing Data model are

aggressive and hypothetical that is why the two outputs are
remarkably different from the true motion, although it might be a
quite realistic sample case for an uncalibrated or defected sensor.
EMA3100A Creating Target Tracking Projects
EMA3100A Creating Target Tracking Projects
 EMA3100A Creating Target Tracking Projects

Animated plots show the trajectory and motion selected by T-

Animated and M-Animated, the first shows creation of trajectory by
showing the passed points in time whereas the second shows the
item or target as a moving object while keeping trajectory passed
as a light trace\ as shown in next two slides.
EMA3100A Creating Target Tracking Projects
EMA3100A Creating Target Tracking Projects
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