Tracking of extended object or target group using random matrix: new model and approach

The approach of using a random matrix for extended object and group target tracking (EOT and GTT) is appealing when the scattering centers of the object or the group targets themselves are (partially) unresolvable. Designing and effectively applying this approach relies on effective modeling of the extended object and the target group. To describe complex dynamical variation and practical observation distortion of the extension in size, shape, and orientation, two random matrix-based models are proposed. True measurement noise can also be incorporated into our proposed measurement model easily. Facilitated by special properties of the models, an approximate Bayesian approach is proposed to estimate the kinematic state and the extension jointly. For maneuvering EOT and GTT, a multiple-model approach is derived by moment matching. To evaluate what is proposed, a scenario for maneuvering EOT is simulated. The results illustrate the effectiveness of the proposed models and approach.