tunableProperties
Syntax
Description
specifies if the tracking filters of the tps
= tunableProperties(filter
,AsParameterizedFilter=asParameterized
)trackingGSF
object are parameterized.
Note
Use this syntax only when the filter
input is a
trackingGSF
object.
Examples
Obtain Tunable Properties of trackingEKF
Create a trackingEKF
object.
filter = trackingEKF;
Obtain the tunable properties using the tunableProperties
object function.
tps = tunableProperties(filter)
tps = Tunable properties for object of type: trackingEKF Property: ProcessNoise PropertyValue: [1 0 0 0;0 1 0 0;0 0 1 0;0 0 0 1] TunedQuantity: Square root IsTuned: true TunedQuantityValue: [1 0 0 0;0 1 0 0;0 0 1 0;0 0 0 1] TunableElements: [1 5 6 9 10 11 13 14 15 16] LowerBound: [0 0 0 0 0 0 0 0 0 0] UpperBound: [10 10 10 10 10 10 10 10 10 10] Property: StateCovariance PropertyValue: [1 0 0 0;0 1 0 0;0 0 1 0;0 0 0 1] TunedQuantity: Square root of initial value IsTuned: false
Obtain Tunable Properties of trackingUKF
Create a trackingUKF
object.
filter = trackingUKF;
Obtain the tunable properties using the tunableProperties
object function.
tps = tunableProperties(filter)
tps = Tunable properties for object of type: trackingUKF Property: ProcessNoise PropertyValue: [1 0 0 0;0 1 0 0;0 0 1 0;0 0 0 1] TunedQuantity: Square root IsTuned: true TunedQuantityValue: [1 0 0 0;0 1 0 0;0 0 1 0;0 0 0 1] TunableElements: [1 5 6 9 10 11 13 14 15 16] LowerBound: [0 0 0 0 0 0 0 0 0 0] UpperBound: [10 10 10 10 10 10 10 10 10 10] Property: StateCovariance PropertyValue: [1 0 0 0;0 1 0 0;0 0 1 0;0 0 0 1] TunedQuantity: Square root of initial value IsTuned: false Property: Alpha PropertyValue: 0.001 TunedQuantity: Value IsTuned: true TunedQuantityValue: 0.001 TunableElements: 1 LowerBound: 1e-05 UpperBound: 1 Property: Beta PropertyValue: 2 TunedQuantity: Value IsTuned: false Property: Kappa PropertyValue: 0 TunedQuantity: Value IsTuned: false
Obtain Tunable Properties of trackingIMM
Create a trackingIMM
object.
filter = trackingIMM;
Obtain the tunable properties using the tunableProperties
object function. You can click the links (active in live script) in the display to display the tunable properties of the tracking filters used in the trackingIMM
object.
tps = tunableProperties(filter)
tps = Tunable properties for object of type: trackingIMM Property: TransitionProbabilities PropertyValue: [0.9 0.05 0.05;0.05 0.9 0.05;0.05 0.05 0.9] TunedQuantity: Rows sum to one IsTuned: true TunedQuantityValue: [0.9 0.05 0.05;0.05 0.9 0.05;0.05 0.05 0.9] TunableElements: [1 2 3 4 5 6 7 8 9] LowerBound: [0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001] UpperBound: [1 1 1 1 1 1 1 1 1] Property: ModelProbabilities PropertyValue: [0.333333333333333;0.333333333333333;0.333333333333333] TunedQuantity: Columns sum to one IsTuned: true TunedQuantityValue: [0.333333333333333;0.333333333333333;0.333333333333333] TunableElements: [1 2 3] LowerBound: [0.001 0.001 0.001] UpperBound: [1 1 1] The filter contains 3 tracking filters Show tunable properties for filter 1 Show tunable properties for filter 2 Show tunable properties for filter 3
Obtain Tunable Properties of trackingGSF
Create a trackingGSF
object.
filter = trackingGSF
filter = trackingGSF with properties: State: [4x1 double] StateCovariance: [4x4 double] TrackingFilters: {2x1 cell} HasMeasurementWrapping: [0 0] ModelProbabilities: [2x1 double] MeasurementNoise: [3x3 double]
Obtain the tunable properties using the tunableProperties
object function. By default, the function assumes the tracking filters of the trackingGSF
object are parameterized and share the same models and process noise. Therefore, only the ProcessNoise
property is tunable.
tps1 = tunableProperties(filter)
tps1 = Tunable properties for object of type: trackingGSF Property: ProcessNoise PropertyValue: [1 0 0 0;0 1 0 0;0 0 1 0;0 0 0 1] TunedQuantity: Square root IsTuned: true TunedQuantityValue: [1 0 0 0;0 1 0 0;0 0 1 0;0 0 0 1] TunableElements: [1 5 6 9 10 11 13 14 15 16] LowerBound: [0 0 0 0 0 0 0 0 0 0] UpperBound: [10 10 10 10 10 10 10 10 10 10]
Set the AsParameterizedFilter
argument to false
, which allows the tuner to tune each tracking filter individually.
tps2 = tunableProperties(filter,AsParameterizedFilter=false)
tps2 = Tunable properties for object of type: trackingGSF Property: ModelProbabilities PropertyValue: [0.5;0.5] TunedQuantity: Columns sum to one IsTuned: true TunedQuantityValue: [0.5;0.5] TunableElements: [1 2] LowerBound: [0.001 0.001] UpperBound: [1 1] The filter contains 2 tracking filters Show tunable properties for filter 1 Show tunable properties for filter 2
Input Arguments
filter
— Tracking filter
trackingKF
object | trackingEKF
object | trackingUKF
object | trackingCKF
object
Tracking filter, specified as one of these objects:
asParameterized
— Indicate if tracking filters of trackingGSF
are parameterized
true
(default) | false
Indicate if the tracking filters of the trackingGSF
object are parameterized, specified as true
or
false
.
true
(default) — ThetrackingFilterTuner
object treats the tracking filters in theTrackingFilters
property of thetrackingGSF
object as a set of parameterized filters and assumes that these tracking filters have the same target process model. Therefore, the tuner assumes these tracking filters share the same process noise matrix and only tunes this matrix.false
— ThetrackingFilterTuner
object tunes each tracking filter in theTrackingFilters
property of thetrackingGSF
object individually. In this case, the tuner tunes theModelProbabilities
property of thetrackingGSF
object and the tunable properties of each tracking filter.
Tip
You can use the setPropertyTunability
object function of the tunableFilterProperties
object to further custom the tunable properties
and tunable elements.
Output Arguments
tps
— Tunable properties
tuanbleFilterProperties
object
Tunable properties, returned as a tunableFilterProperties
object.
Version History
Introduced in R2022b
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