grace6666 / trackercomponentlibrary

This is a collection of Matlab functions that are useful in the development of target tracking algorithms.

Tracker Component Library Release 3.01, October 2017 https://github.com/USNavalResearchLaboratory/TrackerComponentLibrary

A paper describing a number of features of the library is
D. F. Crouse, "The Tracker Component Library: Free Routines for Rapid Prototyping," IEEE Aerospace and Electronic Systems Magazine, vol. 32, no. 5, pp. 18-27, May. 2017.

These are the release notes for the version 3.01 of the Tracker Component Library. The Tracker Component Library is a collection of Matlab routines (some written in C/C++ requiring compilation compilation) for simulating and tracking targets in various scenarios. Due to the complexity of the target tracking problem, a great many routines can find use in other areas including combinatorics, astronomy, and statistics.

As of version 3.0, the library has been split into two parts. This is the publicly available part. A small number of functions have been placed into a supplement that is only available to the U.S. DoD and DoD and U.S. DoD contractors (Distribution Statement D), though certain parts may be available to other U.S. Government Agencies (Distributions Statement C) upon request. Many future additions to the library will be placed in the the limited distribution supplement. Instructions for obtaining the limited distribution potion of the library will be posted in this readme after the supplement has been made available.

Those looking for magnetic field sythesis code might want to look at ./Sample Code/Magnetic Models/ .

Those looking to get a quick idea of a very simple end-to-end tracking algorithm (track initiation, data association, maintenance, and termination) might want to look at ./Sample Code/Basic Tracking Examples/demo2DIntegratedDataAssociation.m to see an example of a complete GNN-JIPDAF tracker run on a simple 2D tracking scenario, which can be easily transformed into a normal JIPDAF by changing a single parameter. The tracker is made from the modular components of the library and adapting the tracker to 3D and other scenarios is as simple as changing the proper components. A lot of other sample code is also provided to demonstrate the use of other parts of the library.

NOTABLE CHANGES SINCE VERSION 3.0

• Minor corrections.
• Minor modifications to files to make support the final release of the limited distirbution supplement to the library.
• New 2D and 3D assignment algorithms, among other additions.

NOTABLE CHANGES SINCE VERSION 2.5

• Many new functions have been added.
• Many corrections have been made and a number of functions in different areas have been added or made more versatile/ stable.
• A number of routines related to signal processing have been added to the library in the Mathematical Functions/Signal Processing folder.
• Less reliance on third-party libraries and compiled code. NASA's SPICE library has been removed and the function readJPLEphem can be used to read in NASA JPL's ephemerides without compiling anything. Additionally, the directGeodeticProb function has been rewritten in Matlab and does not use GeographicLib, though the GeographicLib library is still used to solve the indirect geodetic problem.
• Spherical harmonic synthesis has been simplified and now works with vector coefficients and complex coefficients. Additionally, in addition to obtaining a potential and a gradient, one can obtain a Hessian matrix, opening the door to simulation of gravity gradiometer measurements. Fitting of low to moderate order spherical harmonic coefficients to measured data is now possible with the fitSpherHarmonics function.
• Arbitrary-order multivariate B-spline fitting, evaluation, differentiation, and integration has been added.
• Linear dynamic models expressed in non-Cartesian coordinate systems have been added along with conversions of states between coordinate systems. See /Dynamic Models/Continuous Time/Non-Cartesian Position/ and /Coordinate Systems/State Coordinate System Conversion/

COMPILED CODE:

The compilation of the library has been tested under Matlab2017a for Mac OS X 10.11 using clang-800.0.42.1. However, the code should work under other versions of Matlab, compilers, and operating systems. To use the full library, add the library and all of its subfolders to your active path in Matlab. Some functions are available as C/C++ files for use in Matlab either because they use third-party libraries or because the native Matlab implementations provided are too slow to use. If the library was downloaded without precompiled versions of these files, then they can be compiled by running the CompileCLibraries function. Note that a C/C++ compiler supported by Matlab must be installed. Additionally, to decode AIS data, the compiler must support C++11. As the commands for the compilation of the AIS data are at the end of the CompileCLibraries function, if a compiler without C++11 support is used, the rest of the library should be successfully compiled before an error occurs while compiling the AIS code.

EXTERNAL SOLVERS:

The folder ./Mathematical Functions/Polynomials/Generic Multivariate Polynomials/ contains the function solvePolySysWithExtProg. This is an interface to external solvers for simultaneous multivariate polynomial systems. The solvers are external programs and are not included. Though the functions polyRootsMultiDim and solveQuadBivarEq can solver certain types of simultaneous multivariate polynomials, they are limited. For more general systems, an external solver is the best choice. The functions polyMeasConvert, polyMeasConvertAsync, and DopplerOnlyInit6D are located in subfolders entitled 'Uses External Solver" and use the function solvePolySysWithExtProg. Supported external solvers for the function solvePolySysWithExtProg are PHCpack, Bertini, and the certified solver in Macaulay2. Note that Macaulay2 tends to fail more often than the other solvers.

The solvers can be downloaded from: PHCpack for Mac OS X, Windows and Linux: http://homepages.math.uic.edu/~jan/download.html Bertini (version 1.5) for Mac OS X and Linux and Windows, only with Cygwin: https://bertini.nd.edu/download.html Macaulay2 for Mac OS X, Linux, and Windows: http://www.math.uiuc.edu/Macaulay2/

For the external solvers to work, they need to be added to the search path used in Matlab so that the phs/bertini/m2 commands can be called using the system command in Matlab.

DATA SOURCES:

If the library was downloaded without associated data files for solar system ephemerides as well as magnetic, gravitational and terrain models, then the relevant data files will have to be downloaded The original sources of the data are:

1. Earth2014 terrain model: https://geodesy.curtin.edu.au/research/harmonic/ The files Earth2014.BED2014.degree2160.bshc, Earth2014.ICE2014.degree2160.bshc, Earth2014.RET2014.degree2160.bshc, Earth2014.SUR2014.degree2160.bshc, Earth2014.TBI2014.degree2160.bshc should be placed into ./Terrain/data . Though data files to degree and order 10,800 are also available, they are not currently supported as the function spherHarmonicEval does not use extended precision arithmetic, which is required to avoid overflows when using the model.

2. EGM2008 terrain model (The DTM2006.0 model): http://earth-info.nga.mil/GandG/wgs84/gravitymod/egm2008/first_release.html The file Coeff_Height_and_Depth_to2190_DTM2006.0 should be placed into ./Terrain/data . The first time using the getEGM2008TerrainCoeffs function will be significantly slower than subsequent calls, assuming the full model is loaded the first time.

3. The EMM2017 magnetic field coefficients: https://www.ngdc.noaa.gov/geomag/EMM/ The coefficients are included with the software that is provided. The files having names like EMM2015.COF and EMM2000.COF should all be zipped into an archive with the name EMM_Coefficients.zip and placed in ./Magnetism/data . The files with names like EMM2015SV.COF andEMM2000SV.COF should all be zipped into an archive with the name EMM_Secular_Variations.zip and placed into ./Magnetism/data . If all of the data for a single year is loaded, then a .mat file containing the data is placed in the data folder to speed up subsequent calls to the function.

4. The IGRF12 magnetic field coefficients: http://www.ngdc.noaa.gov/IAGA/vmod/igrf.html The file http://www.ngdc.noaa.gov/IAGA/vmod/igrf12coeffs.txt can be downloaded and placed into the folder ./Magnetism/data .

5. The WMM magnetic field coefficients: https://www.ngdc.noaa.gov/geomag/WMM/soft.shtml The coefficient file WMM2015COF.zip shown be downloaded, unzipped and the file WMM.COF placed into ./Magnetism/data .

6. EGM2008 gravitational coefficients http://earth-info.nga.mil/GandG/wgs84/gravitymod/egm2008/egm08_wgs84.html Download the file EGM2008_to2190_TideFree.gz, which is under "EGM2008 Tide Free Spherical Harmonic Coefficients". Decompress the file and place it in ./Gravity/data .

7. EGM96 gravitational coefficients http://earth-info.nga.mil/GandG/wgs84/gravitymod/egm96/egm96.html The file egm96.z should be downloaded and decompressed, resulting in a file names egm96 without an extension, which should be placed in ./Gravity/data .

8. EGM2008 parameters needed to convert height anomalies to geoid undulations: http://earth-info.nga.mil/GandG/wgs84/gravitymod/egm2008/egm08_wgs84.html The "Correction Model" file Zeta-to-N_to2160_egm2008.gz should be downloaded, ungzipped and placed in ./Gravity/data .

9. EGM96 parameters needed to convert height anomalies to geoid undulations: http://earth-info.nga.mil/GandG/wgs84/gravitymod/egm96/egm96.html The file corrcoef.z should be decompressed and placed in ./Gravity/data .

10. NASA JPL's DE430t planetary/solar/lunar ephemerides ftp://ssd.jpl.nasa.gov/pub/eph/planets/Linux/de430t The file linux_p1550p2650.430t should be downloaded and placed in ./Astronomical Code/data for use by the readJPLEphem function. The readJPLEphem function can read other NASA ephemerides, but the DE430t set are the default.

11. NASA JPL's GL0900C gravitational model of the Moon http://pds-geosciences.wustl.edu/missions/grail/default.htm Download the file jggrx_0900c_sha.tab and place it in ./Gravity/data .

12. The FES2004 tide model of the effects of ocean Earth tides. http://maia.usno.navy.mil/conv2010/convupdt/convupdt_c6.html The file fes2004_Cnm-Snm.dat should be downloaded and placed in ./Gravity/Tides/data .

13. The Hipparcos 2 Star Catalog http://cdsarc.u-strasbg.fr/viz-bin/Cat?I/311 Place the file hip2.dat in ./Astronomical Code/data .

14. A low-resolution image of the "Blue Marble" Earth from NASA with land, ocean color, sea ice and clouds. https://visibleearth.nasa.gov/view.php?id=57735 Place the file in Misc/data . This is used as the default map to show on the Earth given by the plotMapOnEllipsoid function.

October 2017 David F. Crouse, Naval Research Laboratory, Washington D.C. (UNCLASSIFIED) DISTRIBUTION STATEMENT A. Approved for public release.