GNU Radio Radar Toolbox
gr::radar::tracking_singletarget Class Reference

This block tracks a singletarget detection with a particle or kalman filter. As input values with identifiers 'range' and 'velocity' are needed and should hold a f32vector with only one element. All input variables tagged with std gives the standard deviation of the parameter. The threshold_track is a value which decides with the likelihood of the data if the new data is accepted as a track. A good starting value is threshold_track = 0.001. threshold_lost is the number of false tracks unitel the track is lost and the tracker begins with a new one. The string filter decides which tracking kernel should be used. 'kalman' or 'particle' are valid. If 'particle' is chosen num_particle gives the number of particles for the particle filter. If 'kalman' is chosen there is no effect on the tracker. More...

#include <tracking_singletarget.h>

Inheritance diagram for gr::radar::tracking_singletarget:
gr::radar::tracking_singletarget_impl

Public Types

typedef std::shared_ptr< tracking_singletargetsptr
 

Static Public Member Functions

static sptr make (int num_particle, float std_range_meas, float std_velocity_meas, float std_accel_sys, float threshold_track, int threshold_lost, std::string filter)
 Return a shared_ptr to a new instance of radar::tracking_singletarget.
 

Detailed Description

This block tracks a singletarget detection with a particle or kalman filter. As input values with identifiers 'range' and 'velocity' are needed and should hold a f32vector with only one element. All input variables tagged with std gives the standard deviation of the parameter. The threshold_track is a value which decides with the likelihood of the data if the new data is accepted as a track. A good starting value is threshold_track = 0.001. threshold_lost is the number of false tracks unitel the track is lost and the tracker begins with a new one. The string filter decides which tracking kernel should be used. 'kalman' or 'particle' are valid. If 'particle' is chosen num_particle gives the number of particles for the particle filter. If 'kalman' is chosen there is no effect on the tracker.

Parameters
num_particleNumber of particles for particle filter. There is no effect if kalman filter is chosen.
std_range_measStandard deviation of the range measurement
std_velocity_measStandard deviation of the velocity measurement
std_accel_sysStandard deviation of the system acceleration
threshold_trackValue to decide if data is valid for the track
theshold_lostNumber of false tracks until the current track is lost
filterFilter kernel to be used. 'kalman' or 'particle' are valid.

Member Typedef Documentation

◆ sptr

Member Function Documentation

◆ make()

static sptr gr::radar::tracking_singletarget::make ( int  num_particle,
float  std_range_meas,
float  std_velocity_meas,
float  std_accel_sys,
float  threshold_track,
int  threshold_lost,
std::string  filter 
)
static

Return a shared_ptr to a new instance of radar::tracking_singletarget.

To avoid accidental use of raw pointers, radar::tracking_singletarget's constructor is in a private implementation class. radar::tracking_singletarget::make is the public interface for creating new instances.


The documentation for this class was generated from the following file: