Class in Zendir.Classes | Inherits from RemoteSensor
Declaration
class RADAR;Description
The RADAR class is able to detect the presence of objects within the simulation by using ray-casts simulated within the Unreal Engine. It can produce maps of the objects around by simulating radio wave transmission and reflection.
Properties
| Declared | Description |
|---|---|
| ApertureDiameter | The diameter of the antenna aperture, which sets how much gain the antenna hasand how narrow its beam is. A larger aperture concentrates the sametransmitted power into a narrower beam, so it returns a stronger signal from asmaller patch of sky. |
| ApertureEfficiency | The fraction of the aperture area that contributes to the gain, which accountsfor the illumination taper, the blockage and the surface error of a realantenna. A value of one describes a uniformly illuminated aperture, where areflector is typically around 0.6. |
| Bandwidth | The bandwidth of the RADAR signal, which is measured in Hz |
| Beamwidth | The half-power beamwidth of the antenna, which is the angle across themainlobe between the two directions where the gain has fallen to half of itspeak. A target further off the boresight than half of this returns less thanhalf the power that the same target would on it. |
| CanCaptureFlag | Whether the radar is allowed to capture. Defaults to true so a radarwithout a power model still measures. When ais attached, it clears this flag during abrownout so that an under-voltage receiver cannot report a return. |
| CaptureOnTick | A flag whether the sensor should capture the data each frame. |
| DetectionThreshold | The detection threshold of the RADAR system, which is used to determinethe minimum signal strength required to detect an object. |
| DistanceNoise | The noise for calculating the distance to the target, as a fraction of the distance. |
| FieldOfView | The full angle of the mainlobe of the antenna, which is twice the half-powerbeamwidth and so reaches out to where the pattern has fallen away. Nothingoutside this cone is sensed at all. Setting this resizes the aperture to theone that produces the requested mainlobe, which moves the gain to match. |
| Gain | The peak gain of the antenna along its boresight, which follows from theaperture measured in wavelengths rather than being set on its own. Gain andbeamwidth are two descriptions of the same aperture, so setting them apartfrom one another would let the sensor claim a gain that its beam cannotsupport. |
| IgnoreSignalOutsideThreshold | A flag whether a return outside the range the receiver can measure is discardedrather than held at the limit it passed. A discarded target is not sensed atall, so it cannot be detected and nothing is reported about it, where holding itat the limit still reports a target at a signal it never returned. |
| IsDetected | A boolean value indicating if a target has been detected by the RADAR sensor,based on the signal to noise ratio and the sensor’s detection threshold. |
| MaxSignal | The strongest return the receiver is able to report, which is the level itsfront end saturates at. A return above this reads at the ceiling rather than atthe level it arrived with. The default is a milliwatt, which is where a receiverwith the sensitivity to sit on a thermal noise floor is normally driven intocompression. |
| MinSignal | The weakest return the receiver is able to report, which is the floor its ownfront end produces. A return below this reads at the floor rather than at thelevel it arrived with, as a receiver cannot report a signal it cannot lift outof itself. |
| NumTargets | The number of targets that the RADAR sensor can see. |
| Out_RADARDataMsg | The RADAR data message that is output by the RADAR sensor. |
| Power | The transmitter power when sending a signal |
| SignalDistance | The estimated distance to the target detected by the RADAR sensor. |
| SignalToNoise | The signal to noise of the RADAR sensor, calculated as the total signaldivided by the total noise. |
| TargetAzimuth | The bearing of the target measured in the plane spanned by the boresight andthe right axis of the sensor. Together with the elevation this locates thetarget relative to the boresight, and both are zero when the target lies alongit. |
| TargetCrossSection | The radar cross-section that the target presented to the sensor, after anyreduction applied when the target over-fills the beam and so is only partlyilluminated by it. |
| TargetDopplerShift | The Doppler shift of the signal returned by the target, which is positive whenthe target is closing on the sensor. |
| TargetElevation | The bearing of the target measured out of the plane spanned by the boresightand the right axis of the sensor. |
| TargetRange | The range from the sensor to the surface of the target it is reporting on. Thisis the true range, where SignalDistance is the same range with the measurementnoise of the sensor applied. |
| TargetRangeRate | The rate the range to the target is changing at, which is positive when thetarget is moving away from the sensor. This stays zero until the target hasbeen sensed on two separate captures. |
| TargetSelection | The rule used to choose which of the detected targets the sensor reports on.Every target that clears the detection threshold is a candidate, and thisdecides between them. When no target clears the threshold the strongestreturn is reported regardless, so that the sensor still describes what itcan see. |
| Temperature | The temperature of the RADAR system, which is used to calculatethe noise floor of the system. |
| TotalNoise | The total noise of the RADAR sensor. |
| TotalSignal | The total signal of the RADAR sensor, which is the sum of all target signals. |
| Wavelength | The wavelength of the RADAR signal, typically an X-band wavelength willbe sub-meter, while a L-band wavelength will be in the meter range. Awavelength of zero carries no signal, so the range starts above it. Thismeasures the aperture, so it sets the gain and the beamwidth alongside it. |
| Inherited | Description |
|---|---|
| AlignmentError | Pitch-axis boresight misalignment applied by error models.This is a rotation about the local Right axis. |
| Behaviours | A collection of behaviours attached to this object. |
| CenterOfMassB_B | The center of mass of the component in respect to the body frame (B) of the component. This is isolated from anychildren and exists in isolation. |
| CenterOfMassDot_LB_B | The center of mass time-derivative of the component within its own local coordinates. This does not include anyof the sub-components and exists in isolation. |
| CenterOfMassDotB_B | The center of mass time-derivative of the component relative to the body frame (B). This does not include any ofthe sub-components and exists in isolation. |
| CenterOfMassL_L | The center of mass of the component within its own local coordinates. This does not include any of thesub-components and exists in isolation. |
| CenterOfMassPrime_LB_B | The center of mass general-derivative of the component within its own local coordinates. This does not includeany of the sub-components and exists in isolation. |
| CenterOfMassPrimeB_B | [m/s] The center of mass general-derivative of the component relative to the body frame (B). This does notinclude any of the sub-components and exists in isolation. |
| Children | A collection of children attached to this object. |
| CoverageBodyName | The celestial body name this sensor is registered with in the PlanetCoverageSystem, or null if not registered. |
| DCM_BN | The rotational DCM matrix between the body frame (B) at the top of this component chain and the inertial frame (N). |
| DCM_LB | The rotational DCM matrix between the component frame of this object (L) relative to the body frame (B). |
| DCM_LN | The DCM rotational matrix of the component relative to the inertial origin (N) of the world. |
| DCM_LP | The DCM matrix of the component in the parent’s frame (P), taken from the Component Transform (PL). |
| FaultState | Specification used if state is set to a fault state for the sensor.This will be able to define how the output data is set for this particularsensor. |
| In_DeviceStatusMsg | The Device status message for the physical component whetherthe device is available. |
| In_TransformMsg | The transform message associated with the root object ofthis particular sensor. This is required for the base levelposition and rotation of the object. |
| IsEnabled | Is true if the object is currently enabled. |
| LocalForward | The direction of the transform frame’s forward vector, which is along the Y axis. |
| LocalRight | The direction of the transform frame’s right vector, which is along the X axis. |
| LocalUp | The direction of the transform frame’s up vector, which is along the Z axis. |
| Mass | The component mass defined in the object. This is independent of any parent or children objects and exists inisolation. |
| MassDot | The component mass time-derivative defined in the object. This is independent of any parent or children objectsand exists in isolation. |
| Models | A collection of models attached to this object. |
| MomentOfInertia_LB | The moment of inertia of the component, measured at the local center of mass, represented with its own localcoordinates. This does not include any of the sub-components and exists in isolation. |
| MomentOfInertiaB_B | The moment of inertia of this component, measured in the body frame relative to the parented body. This isindependent of any children and exists in isolation. |
| MomentOfInertiaPrime_LB | The derivative of the moment of inertia of the component, measured at the local center of mass, represented withits own local coordinates. This does not include any of the sub-components and exists in isolation. |
| MomentOfInertiaPrimeB_B | The derivative of the moment of inertia of the component, represented in the body frame (B). This is independentand exists in isolation. |
| Name | The display name or tag of this object. |
| OperationState | Current operational state of the sensor. |
| Out_ComponentMassMsg | The component mass message defines the set of mass properties and states of the system within this componentlocally. This is independent of any parent or children properties or objects. |
| Out_PlanetCoverageMsg | Output message holding this sensor’s cumulative planet coverage (heat map over the celestial body).Values are accumulated dwell time [s] per cell; TotalCoverage is the fraction of cells ever covered(count of non-zero Values / total cells) and does not decrease.Only updated if the sensor is registered with the PlanetCoverageSystem; the message is reset when registered. |
| Out_TransformMsg | This defines the base transform message that stores the state of the transform of this object. |
| Parent | The currently attached parent object (if any). |
| Position | [m] The position of the object relative to the parent or to world origin, if no parent exists. |
| Position_BN_N | The position of the body (the root parent B) in the inertial frame relative to the inertial point (N). |
| Position_LB_B | The position of the component relative to the root object of this hierarchy. This is in the inertial frame and ifthe component is the root object, then there will be no position. |
| Position_LN_N | The position of the inertial world space. This position is derived from the world’s transform (N). |
| Position_LP_P | The position of the object relative to the parented object (P). If there is no parent object, then this will bein the inertial frame. |
| Root | The root object in the parent chain. |
| Rotation | [-] The rotation of the object relative to the parent or to the world origin, if no parent exists. |
| Thermal | [TEMPORARY] A reference to the thermal model that is attached to this object. This will allow the object to havethermal properties and be able to be used in thermal simulations. |
Methods
| Declared | Description |
|---|---|
| AddTarget | Adds a target to the list of targets that the RADAR sensor can sense. Thiswill create a new target with the specified parameters. |
| Capture | A method that will capture the data of the payload and store it insome form of byte array. |
| ClearBuffer | Clears the cache of the RADAR sensor, which will remove all datafrom the output message. |
| RemoveTarget | Removes a target from the list of targets that the RADAR sensor can see. |
| SetRandomSeed | Sets the random seed used for the distance noise of the sensor, so that ascenario reports the same measurements every time it is run. |
| Inherited | Description |
|---|---|
| AddObject | Returns a new simulation object with the specified type. |
| Attach | Attempts to attach this object to a new parent. This will only work if the current object is no parented to anyother object. |
| ContainsModelWithID | Returns true if an attached model satisfies the specified ID. |
| ContainsModelWithType | Returns true if an attached model satisfies the specified type. |
| DefineAreaOfInterest | Defines a new area of interest with finer grid resolution for coverage tracking. |
| Detach | This is an action to detach the current object from its parent, if it exists and move it to another object or tojust exist within the simulation. |
| FindBehavioursWithType | Returns all attached behaviours that satisfies the specified type. |
| FindBehaviourWithID | Returns an attached behaviour that satisfies the specified ID. |
| FindBehaviourWithType | Returns an attached behaviour that satisfies the specified type. |
| FindChildrenWithType | Returns all attached children that satisfies the specified type. |
| FindChildWithID | Returns an attached child that satisfies the specified ID. |
| FindChildWithType | Returns an attached child that satisfies the specified type. |
| FindModelsWithType | Returns all attached models that satisfies the specified type. |
| FindModelWithID | Returns an attached model that satisfies the specified ID. |
| FindModelWithType | Returns an attached model that satisfies the specified type. |
| FindParentWithID | Returns an attached parent that satisfies the specified ID. |
| FindParentWithType | Returns an attached parent that satisfies the specified type. |
| FindRootWithID | Returns a root object that satisfies the specified ID. |
| FindRootWithType | Returns a root object that satisfies the specified type. |
| GetAreaOfInterestIds | Returns the Ids of all defined areas of interest, optionally filtered by body name. |
| GetBodyCoverageForLatLong | Returns the accumulated dwell time [s] or sensor-seconds at a specific latitude and longitude for all sensorsregistered for the given celestial body. Auto-routes to the finest AOI containing the point. |
| GetBoresightDirection_N | Returns the effective boresight direction in the inertial frame,accounting for any alignment error applied by error models. |
| GetCoverageForLatLong | Returns the accumulated dwell time [s] at a specific latitude and longitude for this sensor. |
| GetDynamicSensorRotation | Returns the sensor rotation with any alignment error applied.The alignment error is a pitch rotation about the local Right axis. |
| GetModel | Returns a valid assigned model with the specified type. |
| GetResolutionForLatLong | Returns the best (minimum) resolution achieved at a specific latitude and longitude for this sensor.For Camera sensors this is GSD [m]; for other RemoteSensors this is FOV ground width [m]. |
| GetSensorAoiCoverageMessage | Returns this sensor’s accumulated coverage message for an AOI. |
| GetTotalAoiCoverageMessage | Returns the accumulated AOI coverage message from all sensors registered for the AOI’s body. |
| GetTotalPlanetCoverage | Returns the total planet coverage from all sensors registered for the specified celestial body. |
| GetWorldForward | [DEPRECATED] THIS FUNCTION WILL BE REMOVED AND SHOULD NOT BE USED. |
| GetWorldRight | [DEPRECATED] THIS FUNCTION WILL BE REMOVED AND SHOULD NOT BE USED. |
| GetWorldTransform | Returns the world transform of the object which is relative to the parent. If no parent exists, this will be thetransform of the object in world space. |
| GetWorldUp | [DEPRECATED] THIS FUNCTION WILL BE REMOVED AND SHOULD NOT BE USED. |
| IsGroundObjectDetectable | Returns whether a ground object is detectable by this sensor based on coverage and resolution.An object is detectable if it was observed and the sensor’s resolution at that location isequal to or better (smaller) than the specified object size. |
| ReadBodyTransform | This method will reset the dirty flag on the mass so that it has been read successfully and is valid. |
| RegisterWithCoverageSystem | Registers this sensor with the PlanetCoverageSystem for celestial body coverage analysis. |
| RemoveAreaOfInterest | Removes an area of interest and clears its accumulated coverage data. |
| SetWorldTransform | [DEPRECATED] THIS FUNCTION WILL BE REMOVED AND SHOULD NOT BE USED. |
| UnregisterFromCoverageSystem | Deregisters this sensor from the PlanetCoverageSystem. |
| UpdateMassProperties | Updates the mass properties of the current physical object at a particular time. |
| WasGroundObjectObserved | Returns whether a ground object’s location was ever observed by this sensor. |
| WasLocationObserved | Returns whether this sensor has observed the given latitude and longitude at least once. |