Extended object tracking, an important and emerging research field, has attracted attention for applications in civilian and military fields. However, the modeling and tracking of maneuvering extended objects still face challenges that need to be solved explicitly. Specifically, it is usually difficult to describe the irregular or complex extension dynamics (e.g., the object extension changes in shape and orientation over time) of a maneuvering extended object with random hypersurface. Further, it is tightly coupled to the centroid kinematics during the object maneuvers. Hence, this paper proposes a general approach for modeling a maneuvering extended object with random hypersurface. In this approach, both the object centroid and the extension dynamics for describing the turn maneuvers with different turn rates can be characterized accurately, in a concise linear form. This facilitates the design of an effective tracking algorithm to deal with different turn maneuvers of a maneuvering extended object with random hypersurface. The merits of this proposed model are illustrated by simulation results, where the kinematic state and object extension are estimated jointly and effectively.

中文翻译：

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随机超曲面机动扩展物体的建模与跟踪


扩展目标跟踪作为一个重要的新兴研究领域，在民用和军事领域的应用引起了人们的关注。然而，机动扩展物体的建模和跟踪仍然面临着需要明确解决的挑战。具体来说，通常很难描述具有随机超曲面的机动延伸物体的不规则或复杂的延伸动力学（例如，物体延伸的形状和方向随时间变化）。此外，它在物体操纵过程中与质心运动学紧密耦合。因此，本文提出了一种用随机超曲面建模机动扩展物体的通用方法。在这种方法中，可以以简洁的线性形式准确地表征用于描述具有不同转弯速率的转弯操纵的物体质心和扩展动力学。这有助于设计有效的跟踪算法来处理具有随机超曲面的机动扩展物体的不同转弯机动。仿真结果说明了该模型的优点，其中运动状态和物体延伸被联合有效地估计。