Nonlinear extended object tracking method based on multiplicative noise

Abstract

Abstract: Aiming at the nonlinear extended object tracking problem, a nonlinear extended object tracking method based on multiplicative noise is proposed. First, the Doppler range rate is included in the radar nonlinear measurement equation. Through measurement conversion, the direction and diameter distance are converted into the Cartesian coordinate system, and pseudo range rate processing is used to handle the distance in the polar coordinate, followed by the removal of the conversion deviation. Then, a matched linearization approach is applied to deduce the optimal linearized equation under the minimum mean square error, retaining the extended information in the original nonlinear quantitative measurement of the second-order central distance. This ensures that the linearized measurement has the same second-order central moment as the original measurement. The updated closed form solution was obtained by Kalman filter formula. Furthermore, the Gaussian Wasserstein distance is used to evaluate the performance of extended object tracking. Finally, the effectiveness of the proposed algorithm is verified by the extended object tracking and group object tracking experiments.

Key words: extended object tracking, multiplicative noise, Doppler range rate, measurement conversion, matched linearization

CLC Number:

TP274

CHEN Hui, LIU Yu, LIAN Feng. Nonlinear extended object tracking method based on multiplicative noise[J]. Journal of Lanzhou University of Technology, 2025, 51(6): 99-106.

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