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When the extension state of the non-ellipsoidal extended target (NET) changes, the performance of traditional multiple target tracking algorithms based on the constant number of sub-objects will decrease. To solve this problem, this paper proposes a gamma Gaussian inverse Wishart probability hypothesis density filter for non-ellipsoidal extended targets with varying number of sub-objects, called VN-NET-GGIW-PHD filter. In the proposed filter, each NET is considered as a combination of multiple spatially close sub-objects, and the label management is introduced to realize the association between the NET and corresponding sub-objects. Then, by target spawning and combination, the number of sub-objects for approximating the extension state of each NET can be adjusted automatically. Furthermore, to obtain the partition of the measurement set, an approach based on the clustering by fast search and find of density peaks (CFSFDP) algorithm and expectation maximization (EM) algorithm is proposed. Simulation results show that the proposed filter can adaptively adjust the number of sub-objects and has better performance when the extension state of the NET changes.

A GGIW-PHD Filter for Multiple Non-Ellipsoidal Extended Targets Tracking With Varying Number of Sub-Objects