Maneuvering Extended Object Tracking with Modified Star-Convex Random Hypersurface Model Based on Minimum Cosine Distance

Abstract

Maneuvering extended object tracking is a new research field due to the rapid development of modern sensor technology. Multiple measurements may be resolved from different unknown sources on an object by using a high-resolution radar. In this case, the object should be regarded as an extended one with object extension, e.g., its shape may be described by the star-convex random hypersurface model. This model is usually specified by a one-dimensional radial function. However, the divergence of the shape estimation and a high error of the kinematic state estimation are likely to occur when an extended object maneuvers. This is because the radial function may take a negative value after Fourier series expansion, which leads to unpredictable estimation results. Unfortunately, the model itself is unable to solve this problem via the subsequent iterations. In this paper, we proposed a modified shape estimation approach to track an extended object with a star-convex random hypersurface model based on minimum cosine distance. Both the extension state and kinematic state at the current time are reinitialized once the radial function takes a negative value. Moreover, a mathematical model was constructed by using the principle of minimum cosine distance, so as to obtain more reasonable weight distribution coefficients for the correction of the extension state. Simulation results in different scenarios demonstrated the effectiveness of the proposed tracking approach.

Keywords

• maneuvering extended object tracking
• random hypersurface model
• star-convex shape
• minimum cosine distance
• radial function