CartesianToElevationRateBearingRateRangeRate Measurement Model #1233
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sgboakes
requested review from
csherman-dstl and
sdhiscocks
and removed request for
a team
csherman-dstl
requested changes
Nov 11, 2025
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| r2 = np.linalg.norm(pos) ** 2 # Squared norm of pos | ||
| r = np.sqrt(r2) # Radius (magnitude) | ||
| azi = np.arctan2(pos[1], pos[0]) # Azimuth (atan2) | ||
| rxy2 = np.linalg.norm(pos[:2]) ** 2 # Squared norm | ||
| rxy = np.sqrt(rxy2) # rxy | ||
| el = np.arctan2(pos[2], rxy) # Elevation (atan2) |
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| r2 = np.linalg.norm(pos) ** 2 # Squared norm of pos | |
| r = np.sqrt(r2) # Radius (magnitude) | |
| azi = np.arctan2(pos[1], pos[0]) # Azimuth (atan2) | |
| rxy2 = np.linalg.norm(pos[:2]) ** 2 # Squared norm | |
| rxy = np.sqrt(rxy2) # rxy | |
| el = np.arctan2(pos[2], rxy) # Elevation (atan2) | |
| r, azi, el = cart2sphere(pos[0, :], pos[1, :], pos[2, :]) | |
| r2 = r ** 2 # Squared norm of pos | |
| rxy = np.linalg.norm(pos[:2], axis=0) # norm | |
| rxy2 = rxy ** 2 # squared norm |
Current implementation does not support measuring a StateVectors type
| # Determine the net velocity component in the engagement | ||
| xyz_vel = state.state_vector[self.velocity_mapping, :] - self.velocity | ||
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| pos = xyz_pos |
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| pos = xyz_pos | |
| pos = xyz_rot |
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| out_vector[self.velocity_mapping, :] = \ | ||
| inv_rotation_matrix @ out_vector[self.velocity_mapping, :] |
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rotation matrix was not applied to velocity in the measurement function, should it be or not?
| position_measurement_sets) | ||
| @pytest.mark.parametrize('model_class, measure_mapping, use_velocity', | ||
| [(CartesianToElevationRateBearingRateRangeRate, [0, 1, 2, 3, 4, 5], True)]) | ||
| def test_rates(sensor_state, target_state, expected_measurement, model_class, |
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Test cases do not cover any rotation matrices other than the identity matrix and do not involve calculating an elevation or bearing (or rates thereof) other than 0
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@jswright-dstl wrote this in a local branch |
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Added a full-rank polar measurement model that converts$[x, y, z, v_x, v_y, v_z]$ into $[\theta, \phi, r, \dot{\theta}, \dot{\phi}, \dot{r}]$ .