Performance Evaluation of Mobile Target Sensing and Tracking Across Multiple Sensing Modes

Moving extended-target sensing and tracking are studied in a beamformed PRS/OFDM ISAC framework. The target is modeled as a rigid cluster of scatterers whose Tx–target–Rx echoes coherently combine in a MIMO scattering channel. Delay, azimuth/elevation, and Doppler are estimated using PRS matched filtering with delay centroiding, single-cluster 2D-MUSIC, and FFT-based Doppler estimation, then used for independent localization and EKF-based tracking. The framework is evaluated in monostatic and bistatic modes under target-directed, receiver-directed, and omnidirectional beamforming. Simulation results show that EKF tracking reduces the aggregate 3D RMSE from 1.61 m to 1.38 m relative to independent localization. Target-directed beamforming substantially improves tracking accuracy, achieving 1.38 m RMSE compared with 5.91 m and 8.38 m for omnidirectional and receiver-directed beamforming, respectively. The results highlight the importance of target-aware beam management, delay-angle-Doppler fusion, and sensing geometry for mobile-target tracking in ISAC networks.