On multiple-model extended target multi-Bernoulli filters

In this paper, we propose a multiple-model (MM) version of the extended target multi-Bernoulli (ET-MB) filter for estimating multiple maneuvering extended targets. A Gaussian mixture (GM) implementation of the MM-ET-MB filter for linear Gaussian models and a sequential Monte Carlo (SMC) implementation of the MM-ET-MB filter for nonlinear models are presented. Two numerical examples are provided to verify the effectiveness of the MM-ET-MB filter for estimating multiple maneuvering extended targets.