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Sensors 2017, 17(10), 2184; https://doi.org/10.3390/s17102184

Tracking of Maneuvering Complex Extended Object with Coupled Motion Kinematics and Extension Dynamics Using Range Extent Measurements

1
School of Information Engineering, Henan University of Science and Technology, Luoyang 471023, China
2
School of Electronic Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
3
Institute of Atmospheric Physics, Chinese Academy of Science, Beijing 100029, China
4
Center for Information Engineering Science Research (CIESR), School of Electronics and Information Engineering, Xi’an Jiaotong University, Xi’an 710049, China
*
Author to whom correspondence should be addressed.
Received: 1 August 2017 / Revised: 17 September 2017 / Accepted: 19 September 2017 / Published: 22 September 2017
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Abstract

The key to successful maneuvering complex extended object tracking (MCEOT) using range extent measurements provided by high resolution sensors lies in accurate and effective modeling of both the extension dynamics and the centroid kinematics. During object maneuvers, the extension dynamics of an object with a complex shape is highly coupled with the centroid kinematics. However, this difficult but important problem is rarely considered and solved explicitly. In view of this, this paper proposes a general approach to modeling a maneuvering complex extended object based on Minkowski sum, so that the coupled turn maneuvers in both the centroid states and extensions can be described accurately. The new model has a concise and unified form, in which the complex extension dynamics can be simply and jointly characterized by multiple simple sub-objects’ extension dynamics based on Minkowski sum. The proposed maneuvering model fits range extent measurements very well due to its favorable properties. Based on this model, an MCEOT algorithm dealing with motion and extension maneuvers is also derived. Two different cases of the turn maneuvers with known/unknown turn rates are specifically considered. The proposed algorithm which jointly estimates the kinematic state and the object extension can also be easily implemented. Simulation results demonstrate the effectiveness of the proposed modeling and tracking approaches. View Full-Text
Keywords: maneuvering complex extended object; coupled motion kinematics and extension dynamics; Minkowski sum; range extent measurements maneuvering complex extended object; coupled motion kinematics and extension dynamics; Minkowski sum; range extent measurements
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Sun, L.; Ji, B.; Lan, J.; He, Z.; Pu, J. Tracking of Maneuvering Complex Extended Object with Coupled Motion Kinematics and Extension Dynamics Using Range Extent Measurements. Sensors 2017, 17, 2184.

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