Merge pull request #723 from dstl/clutter

Add clutter model usage in RadarRotatingBearingRange
dstl · Sep 23, 2022 · e5955f6 · e5955f6
2 parents a85f1e0 + 006846a
commit e5955f6
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diff --git a/stonesoup/sensor/radar/radar.py b/stonesoup/sensor/radar/radar.py
@@ -196,6 +196,12 @@ def measure(self, ground_truths: Set[GroundTruthState], noise: Union[np.ndarray,
                                       groundtruth_path=truth)
             detections.add(detection)
 
+        # Generate clutter at this time step
+        if self.clutter_model is not None:
+            self.clutter_model.measurement_model = measurement_model
+            clutter = self.clutter_model.function(ground_truths)
+            detections = set.union(detections, clutter)
+
         return detections
 
 

diff --git a/stonesoup/sensor/radar/tests/test_radar.py b/stonesoup/sensor/radar/tests/test_radar.py
@@ -678,8 +678,18 @@ def test_target_rcs():
                                     position_mapping=[0, 2, 4],
                                     noise_covar=np.eye(3)),
             ((-50, 50), (-50, 50), (-50, 50))),
+        (RadarRotatingBearingRange(ndim_state=4,
+                                   position_mapping=[0, 2],
+                                   noise_covar=np.array([[np.radians(0.5) ** 2, 0],
+                                                         [0, 1 ** 2]]),
+                                   position=np.array([[0], [1]]),
+                                   rpm=60,
+                                   fov_angle=np.radians(30),
+                                   dwell_centre=StateVector([0.0]),
+                                   max_range=np.inf),
+         ((-50, 50), (-50, 50)))
     ],
-    ids=["RadarBearingRange", "RadarElevationBearingRange"]
+    ids=["RadarBearingRange", "RadarElevationBearingRange", "RadarRotatingBearingRange"]
 )
 def test_clutter_model(radar, clutter_params):
     # Test that the radar correctly adds clutter when it has a clutter