A Gaussian mixture Bernoulli filter for extended target tracking with application to an ultra-wideband localization system

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.