Karlsruhe Institute of Technology
Extended target tracking deals with simultaneously tracking the shape and the kinematic parameters of a target. In this paper, the authors formulate the extended target tracking problem as a state estimation problem with both multiplicative and additive measurement noise. In case of extended targets with known orientation, they show that the best linear estimator is not consistent and, hence, is unsuitable for this problem. In order to overcome this issue, they propose a quadratic estimator for a recursive closed-form measurement update. Simulations demonstrate the performance of the estimator.