Numerical Methods and Applications

Volume 4310 of the series Lecture Notes in Computer Science pp 122-130

Extended Object Tracking Using Mixture Kalman Filtering

  • Donka AngelovaAffiliated withInstitute for Parallel Processing, Bulgarian Academy of Sciences, 25A Acad. G. Bonchev St, 1113 Sofia
  • , Lyudmila MihaylovaAffiliated withDepartment of Communication Systems, Lancaster University, South Drive, Lancaster LA1 4WA

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This paper addresses the problem of tracking extended objects. Examples of extended objects are ships and a convoy of vehicles. Such kind of objects have particularities which pose challenges in front of methods considering the extended object as a single point. Measurements of the object extent can be used for estimating size parameters of the object, whose shape is modeled by an ellipse. This paper proposes a solution to the extended object tracking problem by mixture Kalman filtering. The system model is formulated in a conditional dynamic linear (CDL) form. Based on the specifics of the task, two latent indicator variables are proposed, characterising the mode of maneuvering and size type, respectively. The developed Mixture Kalman filter is validated and evaluated by computer simulation.