GNU Radio Radar Toolbox
tracking_singletarget.h
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1/* -*- c++ -*- */
2/*
3 * Copyright 2014 Communications Engineering Lab, KIT.
4 *
5 * This is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 3, or (at your option)
8 * any later version.
9 *
10 * This software is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
14 *
15 * You should have received a copy of the GNU General Public License
16 * along with this software; see the file COPYING. If not, write to
17 * the Free Software Foundation, Inc., 51 Franklin Street,
18 * Boston, MA 02110-1301, USA.
19 */
20
21
22#ifndef INCLUDED_RADAR_TRACKING_SINGLETARGET_H
23#define INCLUDED_RADAR_TRACKING_SINGLETARGET_H
24
25#include <gnuradio/block.h>
26#include <radar/api.h>
27
28namespace gr {
29namespace radar {
30
31/*!
32 * \brief This block tracks a singletarget detection with a particle or kalman filter. As
33 * input values with identifiers 'range' and 'velocity' are needed and should hold a
34 * f32vector with only one element. All input variables tagged with std gives the standard
35 * deviation of the parameter. The threshold_track is a value which decides with the
36 * likelihood of the data if the new data is accepted as a track. A good starting value is
37 * threshold_track = 0.001. threshold_lost is the number of false tracks unitel the track
38 * is lost and the tracker begins with a new one. The string filter decides which tracking
39 * kernel should be used. 'kalman' or 'particle' are valid. If 'particle' is chosen
40 * num_particle gives the number of particles for the particle filter. If 'kalman' is
41 * chosen there is no effect on the tracker.
42 *
43 * \param num_particle Number of particles for particle filter. There is no effect if
44 * kalman filter is chosen. \param std_range_meas Standard deviation of the range
45 * measurement \param std_velocity_meas Standard deviation of the velocity measurement
46 * \param std_accel_sys Standard deviation of the system acceleration
47 * \param threshold_track Value to decide if data is valid for the track
48 * \param theshold_lost Number of false tracks until the current track is lost
49 * \param filter Filter kernel to be used. 'kalman' or 'particle' are valid.
50 *
51 * \ingroup radar
52 *
53 */
54class RADAR_API tracking_singletarget : virtual public gr::block
55{
56public:
57 typedef std::shared_ptr<tracking_singletarget> sptr;
58
59 /*!
60 * \brief Return a shared_ptr to a new instance of radar::tracking_singletarget.
61 *
62 * To avoid accidental use of raw pointers, radar::tracking_singletarget's
63 * constructor is in a private implementation
64 * class. radar::tracking_singletarget::make is the public interface for
65 * creating new instances.
66 */
67 static sptr make(int num_particle,
68 float std_range_meas,
69 float std_velocity_meas,
70 float std_accel_sys,
71 float threshold_track,
72 int threshold_lost,
73 std::string filter);
74};
75
76} // namespace radar
77} // namespace gr
78
79#endif /* INCLUDED_RADAR_TRACKING_SINGLETARGET_H */
#define RADAR_API
Definition api.h:31
This block tracks a singletarget detection with a particle or kalman filter. As input values with ide...
Definition tracking_singletarget.h:55
std::shared_ptr< tracking_singletarget > sptr
Definition tracking_singletarget.h:57
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.
Definition crop_matrix_vcvc.h:28