Modeling and simulation of naval radar scenarios using imported target data in Adapt MFR and v software release notes
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1 Modeling and simulation of naval radar scenarios using imported target data in Adapt MFR and v software release notes Prepared by: B. Brinson and J. Chamberland C-CORE, 4043 Carling Ave., Suite 202, Ottawa, ON, K2K 2A4 Prepared for: Project Manager: Dr. Peter Moo Contract Number: W Contract Scientific Authority: Dr. Peter Moo The scientific or technical validity of this Contract Report is entirely the responsibility of the Contractor and the contents do not necessarily have the approval or endorsement of the Department of National Defence of Canada. Contract Report DRDC-RDDC-2017-C117 March 2017
2 c Her Majesty the Queen in Right of Canada as represented by the Minister of National Defence, 2017 c Sa Majesté la Reine (en droit du Canada), telle que représentée par le ministre de la Défense nationale, 2017
3 Abstract This report summarizes the work done under Task 8 of Contract W which includes the modeling and analysis of common naval radar scenarios using converted Multi-Role Missile Model (MRoMM) ballistic missile data, and the addition of bug fixes, execution speed improvements and usability improvements to the software. DRDC Ottawa has contracted C-CORE for software support services related to the implementation and analysis of Radar Resources Management (RRM) using the Adaptive Multi-Function Radar simulator (Adapt MFR). Analysis and testing was performed using the Adapt MFR version Simulation results were analyzed and contributed to collaborative research under NATO SET-223. DRDC Ottawa CR i
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5 Table of contents Abstract i Table of contents iii List of figures List of tables vi x 1 Introduction Multi-Role Missile Model data conversion MRoMM plot data.plt format Adapt MFR trajectory input data format Coordinate systems used for conversion MRoMM Conversion operations (using MATLAB R ) Trajectory tested (B PLT) Naval simulations Naval simulation parameters Context scenario A Context scenario A Simulation results A1 results Context only Context with clutter Context and event Context and event with clutter A2 results Context only Context and clutter DRDC Ottawa CR iii
6 Context and event Context and event with clutter A2 with modified ballistic missile track update rates Context and event; 0.5 second interval Context and event with clutter; 0.5 second interval Context and event; 0.1 second interval Context and event with clutter; 0.1 second interval Context and event; 0.05 second interval Context and event with clutter; 0.05 second interval Azimuth clutter update GUI changes Data structure changes Simulator clutter modeling changes Usability improvements Surface clutter Azimuth hard-code Capability to use multiple target input files Default save of scenario parameters Antenna scanning limits Simulation run tagging Bug fixes Missile save Burst gain parameters Scheduler parameters Multiple jammer indexing Multiple pulse width indexing iv DRDC Ottawa CR
7 6.6 Function calling case issues Centroid issue at far range Default target parameters Divide by zero Empty ground type parameter Imaginary result for missile elevation Parameters for multiple radar faces Target structure mismatches Initial parameter check routine issues Analysis data file renaming Default communications setting Execution speed improvements Remove calculations from nested loops Avoid array copy operations Remove user interruptible breakpoint from main loop Use of short circuit logical operations Conclusions Recommendations Bibliography List of symbols/abbreviations/acronyms DRDC Ottawa CR v
8 List of figures Figure 1: Coordinate systems Figure 2: Coordinate conversion operations Figure 3: Ballistic missile launch region Figure 4: Conversion of MRoMM data set. (a) Original trajectories. (b) Bearing rotation. (c) north-east offset Figure 5: B PLT rotated and shifted: original (red) vs. converted (blue) Figure 6: Converted missile B PLT (plane view in Adapt MFR) Figure 7: Context A1 diagram Figure 8: Context A1 overview Figure 9: B PLT re-rotated and re-shifted: original (red) vs. converted (blue). 12 Figure 10: Missile tested with context A1 overview Figure 11: Context A2 diagram Figure 12: Context A2 ships Figure 13: Context A2 boats Figure 14: Context A2 planes Figure 15: Context A2 jets Figure 16: Context A2 birds Figure 17: Context A2 overview Figure 18: Context A1 only: (a) Track completeness. (b) Track occupancy. (c) Frame time. 21 Figure 19: Context A1 with clutter: (a) Track completeness. (b) Track occupancy. (c) Frame time Figure 20: Context A1 with event: (a) Track completeness. (b) Track occupancy. (c) Frame time Figure 21: Context A1 with event; number of targets by priority Figure 22: A1 event target ground truth vi DRDC Ottawa CR
9 Figure 23: A1 event target indication accuracy Figure 24: A1 event target RMSE Figure 25: Context A1 with event and clutter: (a) Track completeness. (b) Track occupancy. (c) Frame time Figure 26: A1 event target with clutter ground truth Figure 27: A1 event target with clutter indication accuracy Figure 28: A1 event with clutter target RMSE Figure 29: Context A2 only: (a) Track completeness. (b) Track occupancy. (c) Frame time. 29 Figure 30: Context A2 with clutter: (a) Track completeness. (b) Track occupancy. (c) Frame time Figure 31: Context A2 with event: (a) Track completeness. (b) Track occupancy. (c) Frame time Figure 32: Context A2 with event; number of targets by priority Figure 33: A2 event target ground truth Figure 34: A2 event target indication accuracy Figure 35: A2 event target RMSE Figure 36: Context A2 with event and clutter: (a) Track completeness. (b) Track occupancy. (c) Frame time Figure 37: A2 event target with clutter ground truth Figure 38: A2 event target with clutter indication accuracy Figure 39: A2 event with clutter target RMSE Figure 40: Context A2 with event; 0.5 second interval: (a) Track completeness. (b) Track occupancy. (c) Frame time Figure 41: A2 event target ground truth; 0.5 second interval Figure 42: A2 event target indication accuracy; 0.5 second interval Figure 43: A2 event target RMSE; 0.5 second interval DRDC Ottawa CR vii
10 Figure 44: Context A2 with event and clutter; 0.5 second interval: (a) Track completeness. (b) Track occupancy. (c) Frame time Figure 45: A2 event target with clutter ground truth; 0.5 second interval Figure 46: A2 event target with clutter indication accuracy; 0.5 second interval Figure 47: A2 event with clutter target RMSE; 0.5 second interval Figure 48: Context A2 with event; 0.1 second interval: (a) Track completeness. (b) Track occupancy. (c) Frame time Figure 49: A2 event target ground truth; 0.1 second interval Figure 50: A2 event target indication accuracy; 0.1 second interval Figure 51: A2 event target RMSE; 0.1 second interval Figure 52: Context A2 with event and clutter; 0.1 second interval: (a) Track completeness. (b) Track occupancy. (c) Frame time Figure 53: A2 event target with clutter ground truth; 0.1 second interval Figure 54: A2 event target with clutter indication accuracy; 0.1 second interval Figure 55: A2 event with clutter target RMSE; 0.1 second interval Figure 56: Context A2 with event; 0.05 second interval: (a) Track completeness. (b) Track occupancy. (c) Frame time Figure 57: A2 event target ground truth; 0.05 second interval Figure 58: A2 event target indication accuracy; 0.05 second interval Figure 59: A2 event target RMSE; 0.05 second interval Figure 60: Context A2 with event and clutter; 0.05 second interval: (a) Track completeness. (b) Track occupancy. (c) Frame time Figure 61: A2 event target with clutter ground truth; 0.05 second interval Figure 62: A2 event target with clutter indication accuracy; 0.05 second interval Figure 63: A2 event with clutter target RMSE; 0.05 second interval Figure 64: Adapt MFR environment - surface clutter GUI with new parameters Figure 65: Illustration of simulation environment with range and new azimuth parameters. 55 viii DRDC Ottawa CR
11 Figure 66: GUI and wait-bar association labels DRDC Ottawa CR ix
12 List of tables Table 1: MRoMM plot data.plt file content Table 2: Adapt MFR simulation parameters Table 3: Context A1 parameters: ships, boats and planes Table 4: Context A1 parameters: jets and birds Table 5: Context A2 parameters: ships Table 6: Context A2 parameters: boats Table 7: Context A2 parameters: recreational planes Table 8: Context A2 parameters: jets Table 9: Context A2 parameters: birds Table 10: Adapt MFR environment - surface clutter GUI with new parameters Table 11: environment-surfaceclutter-sea structure change Table 12: environment-surfaceclutter-land structure change Table 13: environment-anomalous pathloss-terraintype structure change x DRDC Ottawa CR
13 1 Introduction Defence Research & Development Canada (DRDC) Ottawa has contracted C-CORE for software support services related to the implementation and analysis of radar resource management (RRM) using the Adaptive Multi-Function radar simulator (Adapt MFR). All analysis and testing was performed using the Adapt MFR version The main purpose of this work was to model common naval radar scenarios using Adapt MFR simulations. At first using a base set of ten targets (context scenario A1) was used. The context was then expanded to model 100 targets (context scenario A2) which included additional commercial and recreational aircraft, ships, recreational boats and birds. Clutter and ballistic missiles were then added to the simulations. The simulations performed and the results are described in Section 3. The ballistic missile parameters were provided by a NATO partner and converted to a format compatible for use with Adapt MFR. This conversion process is described in Section 2. All of the simulations were run with a single independent radar. The simulation results were analyzed and used as contributions to collaborative research under NATO SET-223 and in support of the RRM work described in (Moo & Ding, 2015). During analysis and testing, the software was updated to repair any newly discovered (or previously known) bugs and to implement speed improvements in an effort to reduce simulation run time. Some usability improvements were also made. This work builds upon the previous work described in Brinson (2016). DRDC Ottawa CR 1
14 2 Multi-Role Missile Model data conversion Ballistic missile data in Multi-Role Missile Model (MRoMM) format was provided to DRDC by a UK NATO partner. It was converted to a format compatible with Adapt MFR. This section describes the conversion process. 2.1 MRoMM plot data.plt format Table 1 shows the format of the ballistic missile data provided. Only a few of these parameters were necessary to convert the trajectories to the format used by Adapt MFR which consists of 12 parameters. 2 DRDC Ottawa CR
15 Table 1: MRoMM plot data.plt file content 1 Simulation Time s 26 Angular velocity about deg/s the Body Frame x-axis 2 Vertical Component of deg 27 Angular velocity about deg/s Angle of Attack the Body Frame y-axis 3 Horizontal Component of deg 28 Angular velocity about deg/s Angle of Attack the Body Frame z-axis 4 Drag Coefficient 29 Body Pitch Attitude deg (Guidance Frame) (Theta) 5 Lift Coefficient 30 Body Yaw Attitude deg (Guidance Frame) (Psi) 6 Pitching Moment Coefficient 31 Body Roll Attitude deg (Guidance Frame) (Phi) 7 Pitch Damping Derivative 32 Predicted Cross Range m Miss Distance from T1 8 Axial Drag Coefficient 33 Predicted Down Range m Miss Distance from T1 9 Incidence (angle of attack) deg 34 Fuel Used kg 10 Mach Number mach 35 Missile Mass kg 11 Dynamic Pressure Pa 36 Axial (X) N Thrust Component 12 Centre of Pressure calibres 37 Lateral (Y) N Thrust Component 13 Demanded Pitch deg 38 Normal (Z) N Thrust Component 14 Demanded Yaw deg 39 Body Roll Moments N due to Thrust 15 Demanded Roll deg 40 Body Pitching N Moments due to Thrust 16 Cross Range Location m 41 Body Yawing Moments N w.r.t Target 1 (T1) due to Thrust 17 Down Range Location m 42 Magnitude of Thrust N w.r.t Target 1 (T1) 18 Flight Path Angle deg 43 Moments of Inertia kg m 2 (Gamma) about Body X Axes 19 Flight Path Heading deg 44 Moments of Inertia kg m 2 about Body Y Axes 20 Geodetic Altitude m 45 Moments of Inertia kg m 2 about Body Z Axes 21 Geodetic Latitude deg 46 Centre of Gravity Position m 22 Geodetic Longitude deg 47 Ground Range Covered m 23 Axial Acceleration m/s 2 48 Stage Number 24 Lateral Acceleration m/s 2 49 Section Number 25 Magnitude of Velocity m/s 50 Object ID Number DRDC Ottawa CR 3
16 2.2 Adapt MFR trajectory input data format The 12 parameters used to define each target in Adapt MFR are listed below: Time: Nx1 array; seconds Slant range: Nx1 array; meters Horizontal range: Nx1 array; meters Bearing (i.e. azimuth): Nx1 array; degrees Elevation: Nx1 array; degrees Speed (radial velocity): Nx1 array; meters/second Height: Nx1 array; meters Radar cross section (RCS): # Swerling: # Identification: string; hostile/friendly/unknown Confidence: # Platform ID: Nx1 array; # 2.3 Coordinate systems used for conversion The conversion of the MRoMM data required several coordinate system conversions using the coordinate systems listed below and shown in Figure 1. All conversion operations were performed in MATLAB R. The conversion process consisted of 14 operations. ECEF: earth-centered, earth-fixed X, Y, Z LLA: latitude (Ψ:psi), longitude (λ:lambda), altitude (from earth s center) ENU: east, north, up local spherical: azimuth (Φ:phi), elevation (Θ:theta), slant range 4 DRDC Ottawa CR
17 Figure 1: Coordinate systems 2.4 MRoMM Conversion operations (using MATLAB R ) The 14 operations used to convert the MRoMM data to Adapt MFR trajectory format are as follows (several functions from the MATLAB R Mapping Toolbox were used): 1. Read in trajectory Latitude, Longitude, Altitude and Time data from.plt files 2. Resample Latitude, Longitude and Altitude for fixed time intervals 3. Convert to local spherical Azimuth/Elevation/Slant Range coordinate system (geodetic2aer) 4. Rotate trajectory bearing angle (around the Up vector) 5. Convert to Geodetic LLA coordinates (aer2geodetic) 6. Convert to local ENU coordinates (geodetic2ned) 7. Offset trajectory in north and east directions Also offset in Up direction to prevent below ground trajectory (large north-east offsets) 8. Convert to Geodetic LLA coordinates (ned2geodetic) Save Height (altitude) 9. Convert to local spherical Azimuth/Elevation/Slant Range coordinate system (geodetic2aer) Save Bearing (azimuth) and Elevation 10. Convert to local ENU coordinates (geodetic2ned) 11. Calculate Horizontal Range (north-east distance from radar position) 12. Convert to ECEF (XYZ) coordinates (geodetic2ecef) 13. Calculate Slant Range (XYZ distance from radar position) 14. Calculate speed (radial velocity) using differences in Slant Range values Save converted trajectory file to.mat file (to be used by Adapt MFR) DRDC Ottawa CR 5
18 Figure 2 shows a graphical overview of the operations performed. The missiles (red arrow) are rotated in azimuth (orange arrow) and shifted in the east-north plane (blue arrow) into a 20x20 km launch region (green box) (Figure 3) centered West of the radar position. Figure 2: Coordinate conversion operations Figure 3: Ballistic missile launch region 6 DRDC Ottawa CR
19 Figure 4 shows the missile trajectories after each step in the conversion process (in the Adapt MFR plane view GUI window). (a) (b) (c) Figure 4: Conversion of MRoMM data set. (a) Original trajectories. (b) Bearing rotation. (c) north-east offset. 2.5 Trajectory tested (B PLT ) Figure 5 shows the missile trajectory that was used for initial testing simulations. The original missile profile (red) is compared to the converted profile (blue). The Adapt MFR plane view is shown in Figure 6. DRDC Ottawa CR 7
20 Figure 5: B PLT rotated and shifted: original (red) vs. converted (blue). Figure 6: Converted missile B PLT (plane view in Adapt MFR). 8 DRDC Ottawa CR
21 3 Naval simulations This section describes the naval radar simulations that were performed including the parameters used and results obtained and analyzed 3.1 Naval simulation parameters Several Adapt MFR simulations were performed first using a base set of ten targets (context scenario A1), then 100 targets (context scenario A2) which included commercial and recreational aircraft, ships, recreational boats and birds. Clutter and ballistic missiles were then combined with the context scenarios in the simulation. The ballistic missile parameters were provided by a NATO partner and converted into a format compatible with Adapt MFR. This was described previously in Section 2. The main simulation parameters used are listed in Table 2. All of the simulations described in this section were run with a single independent radar. Table 2: Adapt MFR simulation parameters Parameter Value Units Number of radars 1 Transmitter frequency 3e9 Hz Number of antenna bursts 1 Pulses per burst 8 Pulse compression ratio 512 Peak power 10 kw Track update interval: Target priority >= 0.75 (high) 1.5 s Track update interval: Target priority < s Pulse width (PW) 1.28E-5 s Pulse repetition frequency (PRF) 9303 Hz Max unambiguous range 16 km Max unambiguous velocity 465 m/s Antenna height 23 m Antenna boresight (north is 0 degrees) 0 degrees Azimuth detection scan limits w.r.t boresight (-90:90 physical scan) -60:60 degrees Azimuth beam spacing 1.5 degrees Elevation detection scan limits w.r.t boresight (-90:90 physical scan) -45:75 degrees Elevation beam spacing 1.5 degrees Antenna diameter (AZ and EL) 2.3 m Detection signal-to-noise ratio (SNR) threshold 5 db Detection Gain threshold (below max antenna gain) 20 db Bit Error Rate threshold 1 Max communications delay 0 s DRDC Ottawa CR 9
22 3.1.1 Context scenario A1 A top-down overview of the SET-223 naval scenario context A1 is shown in Figure 7. It consisted of six targets (two cargo ships, two recreational boats, two recreational planes), which were created using the Adapt MFR target generator. These six targets were saved in the file scenario task 8 context A1 6 tgts.mat. A commercial jet target was extracted from the scenario birds 3.mat data set. It was rotated in bearing by 80 degrees and shifted in time to 0 seconds. Any trajectory data past 600 seconds was removed. Another copy of this jet was made and rotated in bearing by 85 degrees. Finally, two bird targets were also extracted, rotated in bearing by 90 and 95 degrees and shifted in time. These four targets were saved in the file scenario birds 4.mat. Figure 7: Context A1 diagram Combined, Table 3 and Table 4 list the parameters of the ten targets in the context A1 target set. The clutter defined for the simulation consisted of: sea state 5 from 0 to 20 km; urban from 20 to 40 km; and mountains from 40 km outwards. Urban and mountain clutter was limited to -45:45 in azimuth from 0 degrees (north). Outside of these azimuth limits the clutter is defined as sea state 5. This was done in an attempt to generate the desired clutter context within the limits of the current clutter model capabilities. Also, note that the clutter reflectivity that is generated by the simulator is based on reference value tables hard-coded in the software. 10 DRDC Ottawa CR
23 Type Initial ground range (km) Initial Altitude (m) Table 3: Context A1 parameters: ships, boats and planes Initial forward Speed (m/s) Initial Heading (deg) Initial az (deg) Leg index Duration of thrust (s) Speed at end of leg (m/s) Altitude at end of leg (m) Heading diff; end of leg (deg) ship ship boat boat plane plane Type scenario birds 3 index Initial ground range (km) Table 4: Context A1 parameters: jets and birds Initial Altitude (m) Initial radial Speed (m/s) Initial Bearing (deg) Initial Elev (deg) Speed at end of leg (m/s) Altitude at end of leg (m) Bearing at end of leg (deg) Elev at end of leg (deg) jet jet bird bird RCS (m 2 ) RCS (m 2 ) Figure 8 shows an overview of the context A1 target set as displayed in Adapt MFR. Blue lines (surface targets) and red lines show target trajectories (where triangles denote start positions). The green and blue circle shows the radar location. Brown circles define clutter boundaries at specified ranges from the radar location. Figure 8: Context A1 overview The ballistic missile launch event (RBM ) used in the simulation was created by converting MRoMM ballistic missile trajectory file B PLT. The missile bearing was rotated 45 degrees and the missile location was shifted east by 20 km and north by 30 km to lie within a launch region of 50x50 km centered 15 km east and 30 km north of the radar location. The ballistic missile filename is scenario rbm4 tgt mat. Figure 9 compares the original (red) missile trajectory profile to the converted profile (blue). Figure 10 shows an overview of the ballistic missile tested with context A1. DRDC Ottawa CR 11
24 Figure 9: B PLT re-rotated and re-shifted: original (red) vs. converted (blue). Figure 10: Missile tested with context A1 overview 12 DRDC Ottawa CR
25 3.1.2 Context scenario A2 The A2 context consisted of 100 targets (shown in Figure 11). Eighty targets (20 cargo ships, 20 recreational boats, 20 recreational planes and 20 commercial jets) were created using the Adapt MFR target generator (data file A2 80 of 100 tgts.mat). Twenty bird targets were extracted from the scenario birds 3.mat data file, rotated in bearing and shifted in time (data file scenario just 20 birds.mat). All the birds were time shifted to 0 seconds and any additional trajectory data after 600 seconds was discarded. Figure 11: Context A2 diagram Table 5 (ships), Table 6 (boats), Table 7 (planes), Table 8 (jets) and Table 9 (birds) list the parameters of the context A2 target set. Red lines show target trajectories (squares denote start position, blue lines are surface targets). The green and blue circle shows the radar location. The brown circles define the clutter boundaries. The clutter used with context A1 was also used for these simulations. Figure 12 (ships), Figure 13 (boats), Figure 14 (planes), Figure 15 (jets), and Figure 16 (birds) show each of the target sets by type. The ballistic missile event (RBM ) was again used in this simulation (Figure 10, data file scenario rbm4 tgt mat). Figure 17 shows an overview of the context A2 target set as displayed in Adapt MFR. DRDC Ottawa CR 13
26 Firing time (s) Initial ground range (km) Initial Altitude (m) Initial forward Speed (m/s) Table 5: Context A2 parameters: ships Initial Heading (deg) Initial az (deg) Leg index Duration of thrust (s) Speed at end of leg (m/s) Altitude at end of leg (m) Heading diff; end of leg (deg) RCS (m 2 ) Figure 12: Context A2 ships 14 DRDC Ottawa CR
27 Firing time (s) Initial ground range (km) Initial Altitude (m) Initial forward Speed (m/s) Table 6: Context A2 parameters: boats Initial Heading (deg) Initial az (deg) Leg index Duration of thrust (s) Speed at end of leg (m/s) Altitude at end of leg (m) Heading diff; end of leg (deg) RCS (m 2 ) Figure 13: Context A2 boats DRDC Ottawa CR 15
28 Firing time (s) Initial ground range (km) Initial Altitude (m) Table 7: Context A2 parameters: recreational planes Initial forward Speed (m/s) Initial Heading (deg) Initial az (deg) Leg index Duration of thrust (s) Speed at end of leg (m/s) Altitude at end of leg (m) Heading diff; end of leg (deg) RCS (m 2 ) Figure 14: Context A2 planes 16 DRDC Ottawa CR
29 Firing time (s) Initial ground range (km) Initial Altitude (m) Initial forward Speed (m/s) Table 8: Context A2 parameters: jets Initial Heading (deg) Initial az (deg) Leg index Duration of thrust (s) Speed at end of leg (m/s) Altitude at end of leg (m) Heading diff; end of leg (deg) RCS (m 2 ) Figure 15: Context A2 jets DRDC Ottawa CR 17
30 scenario birds 2015 index Initial ground range (km) Initial Altitude (m) Table 9: Context A2 parameters: birds Initial radial Speed (m/s) Initial Bearing (deg) Initial Elev (deg) Speed at end of leg (m/s) Altitude at end of leg (m) Bearing at end of leg (deg) Elev at end of leg (deg) RCS (m 2 ) Figure 16: Context A2 birds 18 DRDC Ottawa CR
31 3.2 Simulation results Figure 17: Context A2 overview The results from the context A1 simulations will be discussed first followed by the context A2 results. The metrics used to measure tracker performance include: track occupancy - measure of the track time per frame; track completeness - ratio of total time a target is tracked to the time it is in the radar field of regard; surveillance frame time - the time between surveillance looks; shows the impact of tracking on the surveillance frame time; track indication accuracy (TIA) - measure of the error between the true target positions and the estimated track position; and root mean square error (RMSE) - measure of the difference between track estimates and true target trajectories. The implementation and testing of these metrics is described in detail in (Brinson & Chamberland, 2010) and (Brinson, 2010) and was based on The Technical Cooperation Program (TTCP) report (TR-SEN , 2008). For optimized tracking it is desirable to achieve a high track completeness while keeping a low track occupancy and surveillance frame time. Low TIA and RMSE should result in improved tracking and possibly higher track completeness. Note that the priority and resulting track update rate of the ballistic missile event tested is calculated like all other targets for the simulations performed. In the Adapt MFR tracker, prioritization of tracks is determined using a fuzzy logic implementation described in (Brinson & Chamberland, 2010). Track scheduling is determined using a time-balancing scheduler where track update rates are based on the fuzzy logic priority results. The implementation and testing of this functionality is described in detail in (Brinson, 2011). High priority targets were updated at 1.5 second intervals. All other targets were updated at 3 second intervals. However; the track update rates for the ballistic missile were specifically increased for the tests described in Section DRDC Ottawa CR 19
32 3.2.1 A1 results Four simulation types were performed using context A1: context only (ID = ); context with clutter (ID = ); context with event (ID = ); and context with event and clutter (ID = ) Context only Figure 18 shows the track completeness, track occupancy and frame time results for the context A1 scenario only (ID = ). Targets 1 and 2 are ships; targets 3 and 4 are boats; targets 5 and 6 are planes; targets 7 and 8 are jets; and targets 9 and 10 are birds. 20 DRDC Ottawa CR
33 (a) (b) (c) Figure 18: Context A1 only: (a) Track completeness. (b) Track occupancy. (c) Frame time Context with clutter Figure 19 shows the track completeness, track occupancy and frame time results for the context A1 scenario with clutter (ID = ). With the introduction of clutter the track completeness and track occupancy decreased. DRDC Ottawa CR 21
34 (a) (b) (c) Figure 19: Context A1 with clutter: (a) Track completeness. (b) Track occupancy. (c) Frame time Context and event Figure 20 shows the track completeness, track occupancy and frame time results for the context A1 scenario with a ballistic missile event (ID = ). The context target results are not changed by the inclusion of the ballistic missile. 22 DRDC Ottawa CR
35 (a) (b) (c) Figure 20: Context A1 with event: (a) Track completeness. (b) Track occupancy. (c) Frame time. Figure 21 shows the number of targets versus time based on priority determined by the tracker. High priory targets are in red and other targets are in blue. The total number of targets is shown in black. Figure 22 shows the true trajectory of the missile (green) in range, azimuth and elevation versus the radar detection region (red) and the resulting track (blue). The ballistic missile is not tracked once it passes over the radar and exceeds the azimuth and elevation scan region of the radar. DRDC Ottawa CR 23
36 Figure 21: Context A1 with event; number of targets by priority Figure 22: A1 event target ground truth Figure 23 shows the TIA in range, azimuth and elevation of the missile versus time and Figure 24 shows the RMSE versus time. The final RMSE for the ballistic missile was DRDC Ottawa CR
37 Figure 23: A1 event target indication accuracy Figure 24: A1 event target RMSE Context and event with clutter Figure 25 shows the track completeness, track occupancy and frame time results for the context A1 scenario with a ballistic missile event and clutter (ID = ). The track completeness and occupancy were reduced due to clutter. The track completeness of the ballistic missile dropped to 62% from the 84% result that had no clutter. Figure 26 shows the true trajectory of the missile (green) in range, azimuth and elevation versus the radar detection region (red) and the resulting track (blue). The track initiation for the missile is also delayed due to clutter. Figure 27 shows the track indication accuracy in range, azimuth and elevation versus time. Figure 28 shows the track RMSE versus time. The TIA results were worsened by clutter and the RMSE was also increased a little. The final RMSE for the ballistic missile increased to DRDC Ottawa CR 25
38 (a) (b) (c) Figure 25: Context A1 with event and clutter: (a) Track completeness. (b) Track occupancy. (c) Frame time. 26 DRDC Ottawa CR
39 Figure 26: A1 event target with clutter ground truth Figure 27: A1 event target with clutter indication accuracy Figure 28: A1 event with clutter target RMSE DRDC Ottawa CR 27
40 3.2.2 A2 results Four simulation types were performed using context A2: context only (ID = ); context with clutter (ID = ); context with event (ID = ); and context with event and clutter (ID = ). Again note that the priority and resulting track update rate of the ballistic missile is calculated like all other targets for the simulations described in this section (high priority second interval, all other targets - 3 second interval) Context only Figure 29 shows the track completeness, track occupancy and frame time results for the context A2 scenario only (ID = ). Targets 1 to 20 are ships; 21 to 40 are boats; 41 to 60 are planes; 61 to 80 are jets; and 81 to 100 are birds. 28 DRDC Ottawa CR
41 (a) (b) (c) Figure 29: Context A2 only: (a) Track completeness. (b) Track occupancy. (c) Frame time Context and clutter Figure 30 shows the track completeness, track occupancy and frame time results for the context A2 scenario with clutter (ID = ). The track occupancy and track occupancy results were reduced due to the introduction of clutter. The completeness of the bird targets was significantly reduced or eliminated due to clutter. DRDC Ottawa CR 29
42 (a) (b) (c) Figure 30: Context A2 with clutter: (a) Track completeness. (b) Track occupancy. (c) Frame time Context and event Figure 31 shows the track completeness, track occupancy and frame time results for the context A2 scenario with a ballistic missile event (ID = ). Figure 32 shows the number of targets versus time based on priority determined by the tracker. High priory targets are in red and other targets are in blue. The total number of targets is shown in black. 30 DRDC Ottawa CR
43 (a) (b) (c) Figure 31: Context A2 with event: (a) Track completeness. (b) Track occupancy. (c) Frame time. Figure 33 shows the true trajectory of the missile (green) in range, azimuth and elevation versus the radar detection region (red) and the resulting track (blue). The ballistic missile is not tracked once it passes over the radar and exceeds the azimuth and elevation scan region of the radar. Figure 34 shows the track indication accuracy of the missile in range, azimuth and elevation versus time. Figure 35 shows the missile track RMSE versus time. The final RMSE was DRDC Ottawa CR 31
44 Figure 32: Context A2 with event; number of targets by priority Figure 33: A2 event target ground truth Figure 34: A2 event target indication accuracy 32 DRDC Ottawa CR
45 Figure 35: A2 event target RMSE DRDC Ottawa CR 33
46 Context and event with clutter Figure 36 shows the track completeness, track occupancy and frame time results for the context A2 scenario with a ballistic missile event and clutter (ID = ). The track completeness of the ballistic missile (index 101) was reduced to 59% from 82% due to the inclusion of clutter. The completeness of the bird targets was again significantly reduced or eliminated due to clutter. (a) (b) (c) Figure 36: Context A2 with event and clutter: (a) Track completeness. (b) Track occupancy. (c) Frame time. 34 DRDC Ottawa CR
47 Figure 37 shows the true trajectory of the missile (green) in range, azimuth and elevation versus the radar detection region (red) and the resulting track (blue). The track commencement of the ballistic missile (index 101) was delayed due to the inclusion of clutter. Figure 38 shows the track indication accuracy in range, azimuth and elevation versus time. Figure 39 shows the track RMSE versus time. The TIA and RMSE results were similar to the results without clutter with the exception of a sharp increase in RMSE when the missile tracking began at around 55 seconds. The final RMSE for the ballistic missile increased to Figure 37: A2 event target with clutter ground truth Figure 38: A2 event target with clutter indication accuracy DRDC Ottawa CR 35
48 Figure 39: A2 event with clutter target RMSE A2 with modified ballistic missile track update rates For the following simulations, the track update rate for the ballistic missile event target specifically was increased. The track update interval was reduced to 0.5, 0.1 and 0.05 seconds. Other high priority targets were still updated at 1.5 seconds. All other targets were updated at 3 second intervals. The following six simulations were performed using context A2 with the adjusted track update rates: context with event, 0.5 second interval (ID = ); context with event and clutter, 0.5 second interval (ID = ); context with event, 0.1 second interval (ID = ); context with event and clutter, 0.1 second interval (ID = ); context with event, 0.05 second interval (ID = ); and context with event and clutter, 0.05 second interval (ID = ) Context and event; 0.5 second interval Figure 40 shows the track completeness, track occupancy and frame time results for the context A2 scenario with a ballistic missile event (ID = ). The track occupancy and frame times increased slightly during the time the ballistic missile was being tracked at the increased rate. The track completeness of the ballistic missile increased to 86% from 82% (at the regular rate). Figure 41 shows the true trajectory of the missile (green) in range, azimuth and elevation versus the radar detection region (red) and the resulting track (blue). Figure 42 shows the track indication accuracy in range, azimuth and elevation versus time. Figure 43 shows the track RMSE versus time. The TIA and RMSE results for the ballistic missile were reduced due to the increased rate, compared to the results at the regular track update rate but there was a noticeable rise near the end of the track. The final RMSE was reduced to DRDC Ottawa CR
49 (a) (b) (c) Figure 40: Context A2 with event; 0.5 second interval: (a) Track completeness. (b) Track occupancy. (c) Frame time. DRDC Ottawa CR 37
50 Figure 41: A2 event target ground truth; 0.5 second interval Figure 42: A2 event target indication accuracy; 0.5 second interval Figure 43: A2 event target RMSE; 0.5 second interval 38 DRDC Ottawa CR
51 Context and event with clutter; 0.5 second interval Figure 44 shows the track completeness, track occupancy and frame time results for the context A2 scenario with a ballistic missile event and clutter (ID = ). Again, the track occupancy and frame times increased during the time the ballistic missile was being tracked at the increased rate however track completeness and occupancy are reduced due to clutter. As before, the completeness of the bird targets was significantly reduced or eliminated due to clutter. Figure 45 shows the true trajectory of the missile (green) in range, azimuth and elevation versus the radar detection region (red) and the resulting track (blue). As with the 0.05 second update interval, the track commencement of the ballistic missile (index 101) was delayed due to the inclusion of clutter. Also the tracker experienced problems starting around 85 seconds and the track was lost earlier than in previous results. Figure 46 shows the track indication accuracy in range, azimuth and elevation versus time. Figure 47 shows the track RMSE versus time. The TIA results increased significantly after 85 seconds. The tracker was having trouble tracking the missile at this point and track was lost early. The track completeness dropped significantly to 40%. The final RMSE increased to due to the inclusion of clutter Context and event; 0.1 second interval Figure 48 shows the track completeness, track occupancy and frame time results for the context A2 scenario with a ballistic missile event (ID = ). The track occupancy and frame times increased during the time the ballistic missile was being tracked at the increased rate. The track completeness of the ballistic missile increased slightly to 84% with the increased rate from 82% with standard update rate. Figure 49 shows the true trajectory of the missile (green) in range, azimuth and elevation versus the radar detection region (red) and the resulting track (blue). Figure 50 shows the track indication accuracy in range, azimuth and elevation versus time. Figure 51 shows the track RMSE versus time. The TIA and RMSE results for the ballistic missile were significantly reduced due to the increased rate. The final RMSE was reduced to DRDC Ottawa CR 39
52 (a) (b) (c) Figure 44: Context A2 with event and clutter; 0.5 second interval: (a) Track completeness. (b) Track occupancy. (c) Frame time. 40 DRDC Ottawa CR
53 Figure 45: A2 event target with clutter ground truth; 0.5 second interval Figure 46: A2 event target with clutter indication accuracy; 0.5 second interval Figure 47: A2 event with clutter target RMSE; 0.5 second interval DRDC Ottawa CR 41
54 (a) (b) (c) Figure 48: Context A2 with event; 0.1 second interval: (a) Track completeness. (b) Track occupancy. (c) Frame time. 42 DRDC Ottawa CR
55 Figure 49: A2 event target ground truth; 0.1 second interval Figure 50: A2 event target indication accuracy; 0.1 second interval Figure 51: A2 event target RMSE; 0.1 second interval DRDC Ottawa CR 43
56 Context and event with clutter; 0.1 second interval Figure 52 shows the track completeness, track occupancy and frame time results for the context A2 scenario with a ballistic missile event and clutter (ID = ). Again, the track occupancy and frame times increased during the time the ballistic missile was being tracked at the increased rate however track completeness and occupancy are reduced due to clutter. The track completeness of the ballistic missile dropped to 64% from 84% without clutter but was still higher than the 59% result from the standard update rate. As before, the completeness of the bird targets was significantly reduced or eliminated due to clutter. Figure 53 shows the true trajectory of the missile (green) in range, azimuth and elevation versus the radar detection region (red) and the resulting track (blue). The track commencement of the ballistic missile (index 101) was delayed due to the inclusion of clutter. Figure 54 shows the track indication accuracy in range, azimuth and elevation versus time. Figure 55 shows the track RMSE versus time. The TIA and RMSE results were similar to the results without clutter with the exception of a sharp rise in RMSE when the missile tracking began at around 55 seconds. The final RMSE went up to due to the inclusion of clutter. 44 DRDC Ottawa CR
57 (a) (b) (c) Figure 52: Context A2 with event and clutter; 0.1 second interval: (a) Track completeness. (b) Track occupancy. (c) Frame time. DRDC Ottawa CR 45
58 Figure 53: A2 event target with clutter ground truth; 0.1 second interval Figure 54: A2 event target with clutter indication accuracy; 0.1 second interval Figure 55: A2 event with clutter target RMSE; 0.1 second interval 46 DRDC Ottawa CR
59 Context and event; 0.05 second interval Figure 56 shows the track completeness, track occupancy and frame time results for the context A2 scenario with a ballistic missile event (ID = ). The track occupancy and frame times increased during the time the ballistic missile was being tracked at the increased rate, more so than with the 0.1 second update interval. The track completeness of the ballistic missile increased more so to 86% from 84% with the 0.1 second interval and 82% with the regular rate. Figure 57 shows the true trajectory of the missile (green) in range, azimuth and elevation versus the radar detection region (red) and the resulting track (blue). Figure 58 shows the track indication accuracy in range, azimuth and elevation versus time. Figure 59 shows the track RMSE versus time. The TIA and RMSE results for the ballistic missile were again significantly reduced due to the increased rate, slightly more so than with the 0.1 second update interval. The final RMSE was further reduced to DRDC Ottawa CR 47
60 (a) (b) (c) Figure 56: Context A2 with event; 0.05 second interval: (a) Track completeness. (b) Track occupancy. (c) Frame time. 48 DRDC Ottawa CR
61 Figure 57: A2 event target ground truth; 0.05 second interval Figure 58: A2 event target indication accuracy; 0.05 second interval Figure 59: A2 event target RMSE; 0.05 second interval DRDC Ottawa CR 49
62 Context and event with clutter; 0.05 second interval Figure 60 shows the track completeness, track occupancy and frame time results for the context A2 scenario with a ballistic missile event and clutter (ID = ). Again, the track occupancy and frame times increased during the time the ballistic missile was being tracked at the increased rate however track completeness and occupancy are reduced due to clutter. As before, the completeness of the bird targets was significantly reduced or eliminated due to clutter. Figure 61 shows the true trajectory of the missile (green) in range, azimuth and elevation versus the radar detection region (red) and the resulting track (blue). The track commencement of the ballistic missile (index 101) was delayed due to the inclusion of clutter. As was the case when using the 0.5 second update interval, the tracker experienced problems starting around 85 seconds and the track was lost earlier than in previous results. Figure 62 shows the track indication accuracy in range, azimuth and elevation versus time. Figure 63 shows the track RMSE versus time. The TIA results increased significantly after 85 seconds. The tracker was having trouble tracking the missile at this point and track was lost early. The track completeness dropped significantly to 41%. The final RMSE again increased slightly to DRDC Ottawa CR
63 (a) (b) (c) Figure 60: Context A2 with event and clutter; 0.05 second interval: (a) Track completeness. (b) Track occupancy. (c) Frame time. DRDC Ottawa CR 51
64 Figure 61: A2 event target with clutter ground truth; 0.05 second interval Figure 62: A2 event target with clutter indication accuracy; 0.05 second interval Figure 63: A2 event with clutter target RMSE; 0.05 second interval 52 DRDC Ottawa CR
65 4 Azimuth clutter update This section describes the steps taken to extend the surface clutter model used by Adapt MFR. The previous release only allowed clutter types to be defined as ring shaped areas at specified ranges from the radar location, thus restricting the simulator to more homogeneous simulations. The work done during this task aimed to allow different clutter types to be used and varied in both the range and azimuth direction. To enable this update, the Adapt MFR GUI, data structure, and clutter simulation functions had to be adapted to enable definition of different clutter areas, and proper clutter modeling by the simulator. These changes have been divided into three categories: GUI changes - changes to the user interface; Data structure changes - changes to the internal Adapt MFR data structure; and Simulation clutter model changes - changes to the simulation portion to use the new structure. The following sections will describe each of these changes, as well as the relevant code sections within Adapt MFR that were changed during this upgrade. 4.1 GUI changes To enable entry and use of additional clutter sections in azimuth, both the number of azimuth sections and a method for editing each azimuth section within a range ring were required. This was accomplished by adding three parameters to the Environment - Surface Clutter selection in the Adapt MFR user interface. These parameters can be specified for each range ring, allowing the user to vary clutter type in both range and azimuth. The additional inputs can be seen in Figure 64 in green. These inputs are further described in Table 10. Table 10: Adapt MFR environment - surface clutter GUI with new parameters Field name number of azimuth select azimuth segment to edit azimuth where the terrain starts (degrees) Description breaks each range ring into the number of specified azimuth sections allows the user to edit a specific section allows the user to specify the azimuth angle bounds for the given section DRDC Ottawa CR 53
66 Figure 64: Adapt MFR environment - surface clutter GUI with new parameters Figure 65 illustrates how these new parameters work to set-up different clutter areas within the simulation environment. In the example given, four range rings are defined. Within each of these range rings, a different number of azimuth sections are defined as follows: Range ring 1 (0 - R1) has 3 azimuth sections (Az1 - Az2, Az2 - Az3, Az3 - Az1); Range ring 2 (R1 - R2) has 2 azimuth sections (Az1 - Az2, Az2 - Az1); Range ring 3 (R2 - R3) and 4 (R3 - ) have a single azimuth section. The following list shows the Adapt MFR code files that were changed:.\gui\cbsurfclutparams: - lines 140:165 - added to allow entry of number of azimuth terrain types per range region - lines 192:218 - added to allow for editing each azimuth terrain type - lines 243:267 - added to allow entry of the corresponding azimuth start value - line modified access to sstate variable, which can now be an array - line modified access to the landtype variable, which is now a cell structure - several other lines - GUI properties 54 DRDC Ottawa CR
67 Figure 65: Illustration of simulation environment with range and new azimuth parameters DRDC Ottawa CR 55
68 4.2 Data structure changes To enable the new data input to control azimuth clutter sections, changes to the Adapt MFR s environment structure were required. As the clutter functions are part of the Environment section in the GUI, the changes were made in the structure of the environment global variable. The two entries in the environment variable that required changes were as the following: environment-surfaceclutter-sea - this sub-structure contained sea-state and a clutter flag for each clutter section. environment-surfaceclutter-land - this sub-structure contained the land type and a clutter flag for each clutter section. environment-anomalous pathloss-terraintype - this sub-structure contained the range and ground type (no clutter, sea, land) for each clutter area. Table 11 shows the changes to the sub-structure environment-surfaceclutter-sea. These changes allow for the user to associate both sea clutter areas and different sea states to each of the azimuth sub-sections within a given range clutter ring. Table 11: environment-surfaceclutter-sea structure change Parameter Old version New version ClutterPresent sstate Flag for sea clutter in this range ring Sea State in this range ring Array of flags for sea clutter for each azimuth section in this range ring Array of sea states for each azimuth section in this range ring Table 12 shows the change to the sub-structure environment-surfaceclutter-land. These changes allow the user to associate both land clutter areas and different land cover types to each of the azimuth sections within a given range clutter ring. Table 12: environment-surfaceclutter-land structure change Parameter Old version New version ClutterPresent landtype Flag for land clutter in this range ring String land type in this range ring Array of flags for land clutter for each azimuth section in this range ring Cell Array of land types for each azimuth section in this range ring Table 13 shows the changes to the sub-structure environment-anomalous pathloss-terraintype. These changes allow the user to specify different azimuth clutter sections for each of the specified range rings. The following list shows the Adapt MFR code files that were changed to add these parameters to the interface: 56 DRDC Ottawa CR
69 Table 13: environment-anomalous pathloss-terraintype structure change Parameter Old version New version range groundtype azimuth Start range value for clutter ring Specify ground type for this range N/A no change Array of specified ground types for this range ring and the different azimuth values Array of azimuth start values for each clutter section within this range ring.\gui\cbdefaultparameters.m: - line added azimuth variable to environment structure - line make the default landtype a cell instead of an array in the environment structure.\gui\cbloadparams.m: - lines 366:374 - added check for azimuth field in environment structure.\gui\edituicontrol.m: - various lines to properly write to environment variable, to accommodate different azimuth clutter sections.\gui\saveenvparams.m: - lines 62:76 - changes and additions to properly save the user entered environment parameters to the environment global variable DRDC Ottawa CR 57
70 4.3 Simulator clutter modeling changes Due to time constraints, it was not possible to integrate the simulation functionality and validate during the project time line. As an incremental step in this direction, C-CORE was able to modify the simulation functionality enough to use the new environment global structure, while ignoring any azimuth clutter areas for the time being. This will allow the previously documented source code changes to be integrated into the current code but without the functionality changes. C-CORE can then quickly finish and integrate the functionality in the future. To integrate this new structure change into the simulation environment, the following source code files were changed in Adapt MFR:.\main\create report.m: - lines 303:315 - changed and added to allow report to include all range and azimuth parameters.\main\findlandandsea2.m (new file; modified version of findseaandland.m): - line 36 - modified access to groundtype variable - line 42 - modified access to sstate variable - line 55 - modified access to landtype variable - line 67 - modified access to sstate variable 58 DRDC Ottawa CR
71 5 Usability improvements Some new functionality was added to Adapt MFR to improve usability during simulation and debugging and to avoid simulation errors due to improper parameter settings. The modifications are described in the following sections. 5.1 Surface clutter Azimuth hard-code Description: To improve surface clutter modeling for the simulations performed in this report, in lieu of the upgrades described in Section 4, a change was made to the software to override the clutter type based on hard-coded azimuth angle limits. When the land clutter type is specified as urban or mountain and the azimuth angle exceeds plus-or-minus 45 degrees the clutter type is re-defined as sea clutter. Files affected:.\main\findseaandland2.m - new file (modified version of findseaandland.m).\main\surfmfr4mod opt.m - lines 249 & 286.\Main\add false alarms.m - line Capability to use multiple target input files Description: The capability to use multiple target input files was added. This was in-part done in support of the changes described in Section 2. At this time the additional target files are hard-coded in the software and must be changed in the file adapt mfr.m. Also, plotting parameters in the plane view GUI function were adjusted to display surface targets in blue (other targets are red) and to display the target number in black at the start of the trajectory (the target number is displayed in red or blue at the end of the trajectory). This helps the user to identify targets by type and locate the start and end points of each target trajectory. Files affected:.\main\adapt mfr.m - lines 16:32.\Main\adaptmfr run.m - lines 92:98 & 585:594.\Gui\cbpViewAzimuth.m - lines 40, 41 & 132:139.\Main\missile append - new file 5.3 Default save of scenario parameters Description: The requirement to save scenario parameters at the start of each simulation run by default was added to prevent the loss of parameters that may be required for future simulation analysis or debugging. Files affected:.\main\adaptmfr run.m - line 1025 DRDC Ottawa CR 59
72 5.4 Antenna scanning limits Description: The software was updated to use the azimuth and elevation scan limits defined in the Antenna Pattern Group of the Radar and Processing section of the GUI. These values were previously hard-coded. Files affected:.\gui\cbdefaultparameters.m - lines 315 & 316.\Main\whats next adaptive.m - lines 210, 211, 454, 460 & 461.\Main\whats next.m - lines 273, 279, 280, 286, 287, 303 & Simulation run tagging Description: The GUI title bar, the progress bar (wait-bar) and messages within the MATLAB R display are labeled with the time that Adapt MFR was started to associate the three together. An example is shown in Figure 66. This helps the user to differentiate the multiple items when running multiple scenarios simultaneously should the user wish to check status or stop a scenario without the risk of closing the wrong simulation windows. The current time displayed in the progress bar (wait-bar) is updated periodically with the current system time to verify that simulation has not stalled. Figure 66: GUI and wait-bar association labels Files affected:.\gui\adaptmfr.m - lines 16 & 44.\Gui\adaptmfr run.m - lines 57, 1038, 1081, 1089, 1108 & DRDC Ottawa CR
Networked Radar Capability for Adapt MFR Adapt MFR V Experiment results and software debug updates
Networked Radar Capability for Adapt MFR Adapt MFR V 3.2.8 Experiment results and software debug updates c Her Majesty the Queen in Right of Canada as represented by the Minister of National Defence, 2014
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