Aero.trajectory.creepingTrajectory

Generate reference signals for creeping line search trajectory

Since R2026a

Syntax

refSignals = Aero.trajectory.creepingTrajectory(Name=Value)

Description

refSignals = Aero.trajectory.creepingTrajectory(Name=Value) generates trajectory reference signals for a creeping line search pattern. Use name-value arguments to define the search pattern. For more information, see Algorithms.

Examples

Generate Reference Signals for Creeping Trajectory

This example shows how to generate reference signals for a creeping trajectory.

refCreepingTraj = Aero.trajectory.creepingTrajectory(InitialPosition = [0, 0], ...
Speed = 100,DatumPoint = [10, 10],FieldLength = 5000, ...
FieldWidth = 2000,TrackSpacing = 1000,Bearing = pi/4, ...
Altitude = 5000,OutputFormat = 'timetable',Mode = 'Independent')

refCreepingTraj=9×6 timetable
    09-Jan-2026 08:29:06    1              0              0    100       0         0
    09-Jan-2026 08:30:00    2    -1.7578e+03    -1.0507e+03    100    5000    3.6803
    09-Jan-2026 08:30:10    3    -1.0507e+03    -1.7578e+03    100    5000    5.4978
    09-Jan-2026 08:30:20    4      -343.5534    -1.0507e+03    100    5000    0.7854
    09-Jan-2026 08:30:30    5    -1.0507e+03      -343.5534    100    5000    2.3562
    09-Jan-2026 08:30:40    6      -343.5534       363.5534    100    5000    0.7854
    09-Jan-2026 08:30:50    7       363.5534      -343.5534    100    5000    5.4978
    09-Jan-2026 08:31:00    8     1.0707e+03       363.5534    100    5000    0.7854
    09-Jan-2026 08:31:10    9       363.5534     1.0707e+03    100    5000    2.3562

Add Reference Signals for Creeping Trajectory to Another Trajectory

This example shows how to add reference signals for a creeping line trajectory, creepingSignals, to existing reference signals for another trajectory, sectorSignals.

Create reference signals for a sector trajectory.

sectorSignals = Aero.trajectory.sectorTrajectory(Altitude = 20, ...
Bearing = pi/2,DatumPoint = [-8,0], ...
InitialAltitude = 0,Radius = 5, ...
OutputFormat = 'timetable',InitialHeading = 0)

sectorSignals=9×6 timetable
    09-Jan-2026 09:12:44    1           0          0    90     0         0
    09-Jan-2026 09:12:44    2          -8          0    90    20    3.1416
    09-Jan-2026 09:12:44    3          -8          5    90    20    1.5708
    09-Jan-2026 09:12:44    4     -3.6699     2.5000    90    20    5.7596
    09-Jan-2026 09:12:44    5    -12.3301    -2.5000    90    20    3.6652
    09-Jan-2026 09:12:44    6    -12.3301     2.5000    90    20    1.5708
    09-Jan-2026 09:12:44    7     -3.6699    -2.5000    90    20    5.7596
    09-Jan-2026 09:12:44    8     -8.0000         -5    90    20    3.6652
    09-Jan-2026 09:12:44    9          -8          0    90    20    1.5708

Add reference signals for a creeping line trajectory, creepingSignals, to sectorSignals.

creepingSignals = Aero.trajectory.creepingTrajectory(PriorTrajectory = sectorSignals, ...
DatumPoint = [10, 10],FieldLength = 5000, ...
FieldWidth = 2000,TrackSpacing = 1000,Bearing = pi/4, ...
Altitude = 5000,Mode ='Independent')

creepingSignals=17×6 timetable
    09-Jan-2026 09:12:44     1              0              0    90       0         0
    09-Jan-2026 09:12:44     2             -8              0    90      20    3.1416
    09-Jan-2026 09:12:44     3             -8              5    90      20    1.5708
    09-Jan-2026 09:12:44     4        -3.6699         2.5000    90      20    5.7596
    09-Jan-2026 09:12:44     5       -12.3301        -2.5000    90      20    3.6652
    09-Jan-2026 09:12:44     6       -12.3301         2.5000    90      20    1.5708
    09-Jan-2026 09:12:44     7        -3.6699        -2.5000    90      20    5.7596
    09-Jan-2026 09:12:44     8        -8.0000             -5    90      20    3.6652
    09-Jan-2026 09:12:44     9             -8              0    90      20    1.5708
    09-Jan-2026 09:13:44    10    -1.7578e+03    -1.0507e+03    90    5000    3.6823
    09-Jan-2026 09:13:55    11    -1.0507e+03    -1.7578e+03    90    5000    5.4978
    09-Jan-2026 09:14:06    12      -343.5534    -1.0507e+03    90    5000    0.7854
    09-Jan-2026 09:14:18    13    -1.0507e+03      -343.5534    90    5000    2.3562
    09-Jan-2026 09:14:29    14      -343.5534       363.5534    90    5000    0.7854
      ⋮

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: InitialPosition = [0,0]

InitialPosition — Initial position

[0,0] (default) | 1-by-2 vector | 2-by-1 vector

Initial position of trajectory, specified as a 1-by-2 or 2-by-1 vector in the units specified in Units.

Example: InitialPosition = [0,0]

Data Types: double

Speed — Speed of trajectory

10 (default) | finite real double scalar

Speed of trajectory, specified as a finite real double scalar in the units specified in Units.

Example: Speed = 10

Data Types: double

Altitude — Altitude of trajectory

100 (default) | finite real scalar double

Altitude of the vehicle trajectory, specified as a finite real scalar double in the units specified in Units. This value is constant throughout the vehicle path.

Example: Altitude = 10

Data Types: double

InitialHeading — Initial heading of trajectory

0 (default) | finite real double scalar between 0 and 2*pi

Initial heading of trajectory, specified as a finite real double scalar between 0 and 2*pi, in radians. Specify one each of InitialHeading and FinalHeading.

Example: InitialHeading = pi

Data Types: double

OutputFormat — Output format

timeseries object (default) | timetable object

Output format of reference signals data, specified as timeseries or timetable.

Example: OutputFormat = timeseries

Units — Input and output units

Metric (MKS) (default) | English (Velocity in ft/s) | English (Velocity in kts)

Input and output units, specified as one of these values:

Units	Position	Altitude	Speed
Metric (MKS)	Meters	Meters	Meters per second
English (Velocity in ft/s)	Feet	Feet	Feet per second
English (Velocity in kts)	Nautical miles	Feet	Knots

Example: Units = 'Metric (MKS)'

Data Types: double

StartTime — Initial time of trajectory operation

datetime('now') (default) | datetime object

Initial time of trajectory operation, specified as a datetime object.

Example: StartTime=datetime('now')

Bearing — Bearing

0 (default) | finite real scalar double between 0 and 2*pi

Bearing, specified as a finite real scalar double between 0 and 2*pi.

Example: Bearing = pi/4

Data Types: double

Field center — Field center

[50 0] (default) | 1-by-2 vector | 2-by-1 vector | finite real double

Field center, specified as a 1-by-2 or 2-by-1 vector of finite real doubles in the units specified in Units.

Data Types: double

FieldLength — Field length

10 (default) | scalar

Field length, specified as a scalar.

Example: FieldLength = 12

Data Types: double

FieldWidth — Field width

5 (default) | positive scalar

Field width, specified as a positive scalar in the units specified in Units.

Example: FieldWidth = 12

Data Types: double

InitialAltitude — Initial altitude of trajectory

0 (default) | scalar

Initial altitude of trajectory, specified as a scalar in the units specified in Units.

Example: InitialAltitude = 10

Data Types: double

Mode — Vehicle coordination mode

1-1 Coordination (default) | 1-2 Coordination | 1-3 Coordination

Vehicle coordination mode, specified as Independent, 1-1 Coordination, 1-2 Coordination, or 1-3 v.

Example: Mode = '1-1 Coordination'

PriorTrajectory — Prior trajectory tracking data

timeseries object | timetable object

Prior trajectory tracking data, specified as a timeseries or timetable object. These objects must contain these fields:

• Altitude

• Heading

• Speed

• WaypointIndex

• xNorth

• yEast

• LateralAcceleraion/Turnrate

TrackSpacing — Spacing between tracks

1 (default) | scalar

Spacing between tracks, specified as a scalar.

Example: TrackSpacing = 10

Data Types: double

Output Arguments

refSignals — Trajectory reference signals

timeseries struct | timetable object

Trajectory reference signals, returned as a timeseries struct or timetable object.

Algorithms

Use Aero.trajectory.creepingTrajectory to define these parameters of a creeping trajectory, where S is specified by TrackSpacing.

Version History

Introduced in R2026a