performance bound for extended target tracking using high resolution sensors性能约束扩展使用高分辨率传感器目标跟踪.pdf

Sensors 2010, 10, 11618-11632; doi:10.3390/s101211618 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Performance Bound for Extended Target Tracking Using High Resolution Sensors Zhiwen Zhong, Huadong Meng *, Hao Zhang and Xiqin Wang Department of Electronic Engineering, Tsinghua University, Beijing 100084, China; E-Mails: zhiwenz@ (Z.Z.); haozhang@ (H.Z.); wangxq_ee@ (X.W.) * Author to whom correspondence should be addressed; E-Mail: menghd@; Tel.: +86-1011; Fax: +86-10 Received: 3 December 2010; in revised form: 15 December 2010 / Accepted: 16 December 2010 / Published: 20 December 2010 Abstract: This article concerns the problem of the estimation bound for tracking an extended target observed by a high resolution sensor. Two types of commonly used models for extended targets and the corresponding posterior Cramer-Rao lower bound (PCRLB) are discussed. The first type is the equation-extension model which extends the state space to include parameters such as target size and shape . Thus, the extended state vector can be estimated through the measurements obtained by a high resolution sensor. The measurement vector is also an expansion of the conventional one, and the additional measurements such as target extent can provide extra information for the estimation. The second model is based on multiple target measurements, each of which is an independent random draw from a spatial probability distribution. As the number of m