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The approach of using a random matrix for extended object and group target tracking (EOT and GTT) is efficient. Designing and effectively applying this approach rely on modeling the extended object and group targets accurately. To describe complex dynamical variation and practical observation distortion of the extension in size, shape and orientation, two(More)
For irregular extended object and group target tracking (IEOT and IGTT), using a random matrix to simplify the extension as an ellipsoid, although efficient, may not be accurate without losing useful information in shape and orientation. In view of this, we consider modeling an irregular extended object or target group as a combination of multiple regular(More)
For nonlinear estimation, the linear minimum mean square error (LMMSE) estimator using the measurement augmented by its nonlinear conversion can achieve better performance than using the original measurement. The main reason is that the original measurement cannot be fully utilized by the LMMSE estimator in a linear way. To effectively extract additional(More)
The problem of modeling and estimation for linear equality constrained (LEC) systems is considered. The exact constrained dynamic model usually is not readily available or is too complicated, and hence in many studies an auxiliary dynamic model is employed in which the state does not necessarily obey the constraint strictly. Based on the understanding that(More)
The state of some practical dynamic systems satisfies constraints, which can be utilized to improve the performance of state estimation. State estimation with nonlinear inequality constraints is a challenging problem. Projection methods are widely used to solve this problem. In this paper, a projection method is formulated as a special nonlinear function.(More)
The hydrodynamic features of a falling cylinder into the water column is investigated experimentally. The experiment consisted of dropping three cylinders of various lengths into a pool where the trajectories were filmed from two angles. The controlled parameters were, cylinder parameters (length to diameter ratio, center of mass location), and initial(More)
There are several error metrics for estimation performance evaluation. To rank the performance of estimators, a popular method is using the same error metric of performance. It is not without controversy. First, this ranking method depending on the “marginal” information without considering the “joint” information among the(More)
A variable-structure multiple-model (VSMM) approach, named equivalent-model augmentation (EqMA), is proposed. Here the model set is augmented by a variable model intended to best match the unknown true mode. To fully utilize the information provided by model sequences, this variable model depends on the true mode at the previous time. Thus different(More)
For non-ellipsoidal extended object and group target tracking (NEOT and NGTT), using a random matrix to simplify the extension as an ellipsoid, although efficient, may not be accurate enough because of the loss of useful information in shape and orientation. In view of this, we model a non-ellipsoidal extended object or target group as a combination of(More)