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1、I.INTRODUCTIONHistorically,multi-targetradartrackingresearchAdaptiveRadarSensorModelhasfocusedontrackingtargetsatlargedistancesinthepresenceofclutter[1,2].Insuchscenarios,theforTrackingStructuredreturnfromatarget,e.g.anaircraft,isaccuratelymodelledasapointsource,andtheradar(w
2、ithExtendedObjectslimitedresolution)isnotcapableofresolvingmultiplefeaturesontheobject.Thusitiscommontoassumethattheobject’sphysicalextentisnegligiblecomparedwiththemeasurementnoiseandthateachobjectgeneratesatmostonemeasurement,whichisknownasthepointsourceassumption.LARSHAMMA
3、RSTRANDMALINLUNDGRENInmanyotherapplications,suchasvehicleLENNARTSVENSSON,SeniorMember,IEEEtrackinginautomotiveactivesafetysystems[3],thesituationisdifferent.Here,thedistancetoobjectsisinsteadintheorderoftensofmetresandatthesedistances,thephysicalextentofobjectsisWeproposeatra
4、ckingframeworkjointlyestimatingthetypicallylargerthantheresolutionoftheradarsensor.positionofasingleextendedobjectandthesetofradarreflectorsConsequently,theradariscapableofresolvingthatitcontains.Thereflectorsareassumedtolieonalinemultiplefeatures(reflectioncentres)onanobject
5、,structure,butthenumberofreflectorsandtheirpositionsonthewhichcanleadtomultiplemeasurementsoriginatinglineareunknown.Additionally,weincorporateanaccurateradarfromthesameobject.Theradarliteraturereferssensormodelconsideringtheresolutioncapabilitiesofthesensor.tothesetypesofobj
6、ectsasextendedtargets[4].TheevaluationoftheframeworkonradarmeasurementsshowsAttemptingtotrackthistypeofobjectusingmethodspromisingresults.originallydevelopedforpointsourcetargetswilllikelyleadtolargeestimationerrorsasthemultiplereceivedmeasurementsarenotaccuratelydescribedaso
7、riginatingfromapointsource.Thisisillustratedin,e.g.[3],whereadetailedextendedobjectmodelofradarreturnsfromacariscomparedwithasimplerpointsourcemodel.Theextendedobjectmodelprovidesbothabetterdescriptionofthevehicle-generateddetectionsandamoreaccuratetrackingperformancecompared
8、withthepointsourcemodel.Clearly,itispossibletobenefitfromthefactthat
