期刊
IEEE SENSORS JOURNAL
卷 21, 期 18, 页码 20552-20562出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2021.3097967
关键词
Mathematical model; Kinematics; Shape; Sensors; Object tracking; Velocity measurement; Time measurement; Maneuvering extended object tracking; coupled motion kinematics and extension dynamics; random hypersurface; turn maneuver motion
资金
- National Thirteen-Five Equipment Pre-Research Foundation of China [61403120207, 61402100203]
- Aeronautical Science Foundation of China [20185142003]
- National Defense Basic Scientific Research Program of China [JCKY2018419C001]
- Science and Technology Innovative Talents in University of Henan Province [21HASTIT030]
- Outstanding Young Teachers in University [2020GGJS073]
The paper explores the modeling and tracking of maneuvering extended objects, proposing a general approach using random hypersurface, which accurately describes the object centroid and extension dynamics for different turn maneuvers. This approach facilitates the design of an effective tracking algorithm for maneuvering extended objects with random hypersurface.
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.
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