EAAI Journal 2026 Journal Article
Deep reinforcement learning-driven joint filtering for extended target tracking under non-stationary heavy-tailed noise
- Hui Chen
- Yue Jiang
- Xuxin Wang
- Hongyun Zhang
- Wenxu Zhang
- Ziwen Zhao
Conventional filtering techniques often struggle to maintain accuracy in engineering applications plagued by non-stationary and heavy-tailed noise To address this issue, we propose a deep reinforcement learning (DRL)-driven autonomous filtering framework that adapts online to complex noise environments. The framework employs a Twin Delayed Deep Deterministic Policy Gradient (TD3) agent to dynamically adjust the parameters of a Gaussian–Student’s t mixture (GSTM) model for both process and measurement noise. This adaptive noise model is embedded within an Unscented Kalman Filter (UKF) that tracks star-convex extended targets using a Random Hypersurface Model (RHM). Crucially, the framework forms a closed Observation–Policy–Modeling–Estimation (OPME) loop: the TD3 policy updates the noise model based on filtering innovations and posterior uncertainty, which in turn refines the state estimates, creating a feedback cycle of continuous self-improvement. The learning is guided by a reward derived from the posterior Cramér–Rao bound (PCRB), ensuring the optimization directly targets estimation accuracy. Extensive simulations for extended-target tracking demonstrate that our approach significantly outperforms state-of-the-art filters. It achieves superior accuracy in both kinematic state estimation and spatial contour reconstruction, particularly under abrupt noise changes and heavy-tailed disturbances. These results demonstrate the effectiveness of the proposed framework as a self-adaptive filtering approach for robust perception in challenging engineering scenarios.