Two-stage algorithm for extended target tracking by multistatic UWB radar

A two-stage extended target tracking algorithm for multistatic UWB radar is proposed. The first-stage tracking rejects clutter and multipath significantly and reduces the number of possible ghost targets in positioning and partially improves the data association performance for tracking in Cartesian coordinates. At the second stage, the Taylor series positioning algorithm is applied firstly to utilise the target states from all the 1D trackers to provide 2D Cartesian coordinates of targets. After that, the 2D tracker employs the nearest neighbour based Kalman filter to track targets. The algorithm performance has been compared with that of a conventional one-stage approach both on simulated and experimental data.