| Citation: | SUN K，HU Q S，ZHENG X F，et al. Multi-Bernoulli extended target tracking based on orientation and half axes lengths of an ellipse[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（11）：3367-3376 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0869
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The problem that the shape of the extended target is hard to estimate and the newborn target's prior information is unknown in the clutter environment is solved in this paper by using the extended targets-cardinality balance multi-target and multi-Bernoulli (ET-CBMeMBer) filter. This parameterized multi-extended target tracking algorithm is based on the orientation and half axes lengths of an ellipse (OAL). Considering the spatial information of the target, an explicit measurement equation is constructed by multiplicative noise, and the closed-form solution implemented by the Gaussian mixture of the OAL-CBMeMBer filter is deduced. Based on the explicit measurement equation, the prior information of the newborn target that considers the position of the centroid and the shape state is adaptively constructed by employing the known measurement data, and the adaptive OAL-CBMeMBer filter is proposed. The proposed OAL-CBMeMBer filter can effectively track numerous extended targets and increases the estimation accuracy of target number and state, according to simulation findings.
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