Incorporating Range Rate Measurements in EKF-based Elliptical Extended Object Tracking
Kolja Thormann, Marcus Baum · 2021
This work deals with the tracking of an elliptical extended object using radar measurements. We model the ellipse using the orientation and semi-axes as individual state parameters. The radar measurements typically consist of range, bearing, and range rate with individual noise. To minimize non-linearities in the measurement equation, we utilize the transformation of the measurement noise from polar to Cartesian coordinates along with the removal of that transformation's bias and we calculate a pseudo range rate by multiplying range and range rate measurement. Using the resulting measurement vector, we define a measurement equation based on multiplicative noise and apply linearization techniques to get a closed-form solution for the update using Kalman filter formulas. We evaluate our approach in simulations, comparing it to the original MEM-EKF* and an approach using linearization to incorporate Doppler range rate into the random matrix framework.