EMA3100A

Target Motion Simulator

Creating Motion Modeling (MMP) Projects

 EMA3100A Target Motion Simulator

EMA3100A Target Motion Simulator, is an engineering tool for use

in any kind of motion modeling and target tracking data set
(path\trajectory) generation

In 2D Cartesian Coordinates
In 3D Cartesian Coordinates
In Polar Coordinates (Range-Azimuth)
In Polar Coordinates (Range-Elevation)
In Polar Coordinates (Azimuth-Elevation)

and with planned extensions

In Spherical Coordinates
In GPS Framework (Latitude-Longitude-Altitude)

In this slide pack we detail how to create Target Tracking Projects,

 EMA3100A Target Motion Simulator

EMA3100A Target Motion Simulator, Motion Modeling Projects

(MMP) consist of mainly six basic stages

Selecting Project Type

Defining Path Creation Method
Defining and Modeling the Paths
Configuration Check
Animated or Static Trajectory Viewer Graphical Outputs
Combining Paths in Any Order to Create Final Trajectory
 EMA3100A Creating Motion Modeling Projects

Step 1 Motion Modeling Projects (MMP) creation start with

selection of New project item from File menu, which opens the New
Project Creation dialog
 EMA3100A Creating Motion Modeling Projects

Step 2 After properly naming the project and selecting Target

Tracking as Project Type, Project Folder can be chosen from
existing directories\folders or a specific folder to hold project items
can be created
 EMA3100A Creating Motion Modeling Projects

Step 3 When pressed OK, the next step is selection of Project

Type, in other words the coordinate system for intended project, in
this example we have chosen 3D coordinate system and by
pressing Configure button the next screen for Motion Modeler
selection and definitions come up
 EMA3100A Creating Motion Modeling Projects

Step 4 Motion Modeler screen consist of Target Name entry,

sampling time entry and Method selection blocks, once the values
are entered and method is selected, pressing Edit opens up the
TMM-Path Modeler for individual Path additions and modeling

If motion modeling will be done for

more than one item or target, then
target name and sampling time
should be entered at this stage as
Target Name and S-Time
respectively

For this example we have chosen

one target as T1 with an aimed
trajectory sampled at 0.1ms
 EMA3100A Creating Motion Modeling Projects

Currently there are five methods for selection

By Known Functions and SPToM (KF-SPToM)

By TOP and SPToM (TOP-SPToM)
By SOP and SPToM (SOP-SPToM)
By V Vectors and SPToM (V-SPToM)
By A Vectors and SPToM (A-SPToM)

SPToM stands for Start Point plus Time of Motion

TOP and SOP stand for Third Order & Second order Polynomials
V and A Vectors stand for Velocity and Acceleration Vectors
EMA3100A Creating Motion Modeling Projects
 EMA3100A Creating Motion Modeling Projects

Step 5 We added two paths as Path1 and Path2, and the next
thing is modeling the path by right clicking Model the Path menu
item after selecting the path to be modeled, which opens TMM
Editor
 EMA3100A Creating Motion Modeling Projects

TMM Editor allows parameters

to be entered using respective
boxes and selections, for
selected method of Known
Functions and SPToM only
initial positions and Time of
Motion should be entered and
Function should be selected,
the generated path according to
function is saved in designated
file path. Once the path (in this
example it is shown for Path 1
which is P1) is generated by
pressing Generate button, it
can be plotted by Preview
button as shown in next slide
EMA3100A Creating Motion Modeling Projects
 EMA3100A Creating Motion Modeling Projects

We repeat the same or similar procedure for modeling Path2, to

make t tractable we used same function and same time of motion
and changed only initial position producing the path graphically as
shown in next slide for Path2

Therefore Path1-P1 and Path2-P2 are literally same paths one

starting in a different initial position than other which will ease to
see how they are combined in next stage
EMA3100A Creating Motion Modeling Projects
 EMA3100A Creating Motion Modeling Projects

Step 6 At this step we combine the paths added and modeled to

form the final trajectory, since we added and modeled two paths
pressing Combine Paths button on TMM Path Modeler opens Path
Combiner with two available paths although the final trajectory
consisting of combination of those paths can be infinitely long (we
just combined two paths but all combinations are possible and
combination number and consequently final trajectory length can
go to very high numbers allowed by platform and OS capability )
EMA3100A Creating Motion Modeling Projects
EMA3100A Creating Motion Modeling Projects

Main function of Path

Combiner is generating
combined paths from
available paths defined by
the order of combination
and number of paths to be
combined. The paths can
be aligned automatically by
proper selection and a new
sampling time can be
defined for the final
trajectory which is the
ordered combination of
available paths, in this
example it is P1+P2 as
shown in next slide
EMA3100A Creating Motion Modeling Projects
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