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For non-ellipsoidal extended object and group target tracking (NEOT and NGTT), using a random matrix to simplify the extension as an ellipsoid, although efficient, may not be accurate enough because of the loss of useful information in shape and orientation. In view of this, we model a non-ellipsoidal extended object or target group as a combination of multiple ellipsoidal sub-objects, each represented by a random matrix. Different sub-objects are distinguished by different dynamic models. Based on such models, a Bayesian approach is proposed to estimate the kinematic states and the extensions of the sub-objects. For maneuvering NEOT and NGTT, a multiple-model approach is proposed. The overall maneuver model is combined with the sub-object models to describe the common and the individual motions of the sub-objects. Three simplifications of the approach are presented. Two scenarios for maneuvering and nonmaneuvering NEOT and NGTT are simulated. The results demonstrate the effectiveness of the proposed modeling and estimation approach.Index Terms-Bayesian approach, extended object, group target, multiple-model approach, random matrix.

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