Extended object tracking using random matrix with skewness

For extended object tracking, the random matrix approach is a computationally efficient framework that is capable of estimating the kinematic state, and extension of the object jointly, and thus is gaining momentum in recent years. Existing random matrix approaches have an underlying assumption that scatter centers are symmetrically distributed around the centroid. In many real scenarios, however, they are often distributed on particular portions of the object since these parts reflect more radar energy, and measurement distributions over an object are skewed. To effectively describe such a phenomenon, this paper proposes a new measurement model using a skew normal distribution. Based on the proposed model, a variational Bayesian approach is derived to recursively estimate the kinematic state, and the extension through convergent iterations. The resultant algorithm inherits the simplicity of the randommatrix approach.To cope with the possible abrupt change of kinematic state, extension, and measurement distribution over an object (especially the skewness) when a target maneuvers, a multiple model approach is presented in the information theoretic interacting multiple model framework. Effectiveness of the proposed algorithms is evaluated using simulated data, and real experimental data. Results show that the proposed algorithms outperform the existing random matrix methods when measurement distributions are skewed.