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In this work, we apply the probabilistic multihypothesis tracker (PMHT) for the problem of underwater bearing-only multisensor–multitarget tracking in clutter. The PMHT is a batch tracking algorithm that can efficiently process a large number of measurements from multiple sensors. We investigate both the extended Kalman filter (EKF) and the unscented Kalman filter (UKF) for dealing with the high degree...
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