Main Content

UAV Scenario Lidar

Simulate lidar measurements based on meshes in scenario

  • Library:
  • UAV Toolbox / UAV Scenario and Sensor Modeling

  • UAV Scenario Lidar block

Description

Use this block to simulate lidar measurements by outputting point cloud data based on meshes in a UAV Scenario. To add meshes to your UAV Scenario, use the addMesh function to add it to the uavScenario object included by your UAV Scenario Configuration block. See UAV Scenario Tutorial for more information on adding meshes.

To use this block, ensure that UAV Scenario Configuration block is in your model.

Limitations

The UAV Scenario blocks do not support:

In addition, the execution order is important when using these blocks in a closed loop simulation. The UAV Scenario Configuration block must execute first. The UAV Scenario Motion Write block must execute before the UAV Scenario Motion Read, UAV Scenario Lidar, and UAV Scenario Scope blocks.

Ports

Output

expand all

Point cloud data reported in the Sensor Frame. When Output organized point cloud locations is checked, the point cloud data is specified as a N-by-M-by-3 double matrix, where N is the number of vertical scans, and M is the number of horizontal scans. When Output organized point cloud locations is unchecked, the point cloud data is specified as an N-by-3 double matrix, where N is the number of points in the point cloud.

Parameters

expand all

Use Select to choose a lidar sensor from the UAV Scenario.

To add sensors to the UAV Scenario, create uavSensor objects with a uavLidarPointCloudGenerator as the specified sensor model and attach the uavSensor to a uavPlatform in UAV Scenario. This scenario must be imported into Simulink® using the UAV Scenario Configuration block. The available sensors will be listed as 'platform name/sensor name'.

Specify max range of lidar as a double scalar in meters.

Specify range accuracy of lidar as a double scalar in meters.

Specify azimuthal limits of lidar as a two-element vector in degrees.

Specify azimuthal resolution of lidar as a double scalar in degrees.

Specify elevation limits of lidar as a two element vector in degrees.

Specify elevation resolution of lidar as a double scalar in degrees.

Check this box to add noise to measurement of lidar. The noise generation of this block currently does not allow for a user-specified seed.

Check this box to output organized point cloud locations specified as N-by-M-by-3, where N is the number of vertical scans, and M is the number of horizontal scans. If set to 'off', the output of the block is an N-by-3 double matrix, where N is the number of points in the point cloud.

Specify sample time of the lidar as a double scalar in seconds. Sample time must be a multiple of the sample time specified in the UAV Scenario Configuration block.

Introduced in R2021b