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Journal of Sensors
In the scenario where an underwater vehicle tracks an underwater target, reliable estimation of the target position is required. While USBL measurements provide target position measurements at low but regular update rate, multibeam sonar imagery gives high precision measurements but in a limited field of view. This paper describes the development of the tracking filter that fuses USBL and processed sonar image measurements for tracking underwater targets for the purpose of obtaining reliabledoi:10.1155/2016/8070286 fatcat:3xxxhu3gzraibms3ayxpwbohju