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    A Bernoulli Filter for Extended Target Tracking Using Random Matrices in a UWB Sensor Network
    (Ieee-Inst Electrical Electronics Engineers Inc, 2016) Eryildirim, Abdulkadir; Guldogan, Mehmet Burak
    In this paper, we propose a new tractable Bernoulli filter based on the random matrix framework to track an extended target in an ultra-wideband (UWB) sensor network. The resulting filter jointly tracks the kinematic and shape parameters of the target and is called the extended target Gaussian inverse Wishart Bernoulli (ET-GIW-Ber) filter. Closed form expressions for the ET-GIW-Ber filter recursions are presented. A clustering step is inserted into the measurement update stage in order to have a computationally tractable filter. In addition, a new method that is consistent with the applied clustering method is embedded into the filter recursions in order to adaptively estimate the time-varying number of measurements of the extended target. The simulation results demonstrate the robust and effective performance of the proposed filter. Furthermore, real data collected from a UWB sensor network are used to assess the performance of the proposed filter. It is shown that the proposed filter yields a very promising performance in estimation of the kinematic and shape parameters of the target.
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    A Gaussian mixture Bernoulli filter for extended target tracking with application to an ultra-wideband localization system
    (Academic Press Inc Elsevier Science, 2016) Eryildirim, Abdulkadir; Guldogan, Mehmet B.
    This paper presents a Gaussian mixture (GM) implementation of the Bernoulli filter for extended target tracking, which we call the extended target GM Bernoulli (ET-GM-Ber) filter. Closed form expressions for the ET-GM-Ber filter recursions are obtained. A clustering step is integrated into the measurement update stage in order to have a computationally tractable filter. Performance of the proposed filter is tested both on the simulated data and experimental data collected using an ultra-wideband (UWB) localization system. Simulations and experimental results demonstrate the accurate and effective performance of the proposed filter. (C) 2016 Elsevier Inc. All rights reserved.