{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,25]],"date-time":"2025-10-25T12:28:46Z","timestamp":1761395326251,"version":"build-2065373602"},"reference-count":33,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2018,9,21]],"date-time":"2018-09-21T00:00:00Z","timestamp":1537488000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Multitarget tracking algorithms based on sonar usually run into detection uncertainty, complex channel and more clutters, which cause lower detection probability, single sonar sensors failing to measure when the target is in an acoustic shadow zone, and computational bottlenecks. This paper proposes a novel tracking algorithm based on multisensor data fusion to solve the above problems. Firstly, under more clutters and lower detection probability condition, a Gaussian Mixture Probability Hypothesis Density (GMPHD) filter with computational advantages was used to get local estimations. Secondly, this paper provided a maximum-detection capability multitarget track fusion algorithm to deal with the problems caused by low detection probability and the target being in acoustic shadow zones. Lastly, a novel feedback algorithm was proposed to improve the GMPHD filter tracking performance, which fed the global estimations as a random finite set (RFS). In the end, the statistical characteristics of OSPA were used as evaluation criteria in Monte Carlo simulations, which showed this algorithm\u2019s performance against those sonar tracking problems. When the detection probability is 0.7, compared with the GMPHD filter, the OSPA mean of two sensor and three sensor fusion was decrease almost by 40% and 55%, respectively. Moreover, this algorithm successfully tracks targets in acoustic shadow zones.<\/jats:p>","DOI":"10.3390\/s18103193","type":"journal-article","created":{"date-parts":[[2018,9,21]],"date-time":"2018-09-21T11:00:25Z","timestamp":1537527625000},"page":"3193","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Multitarget Tracking Algorithm Using Multiple GMPHD Filter Data Fusion for Sonar Networks"],"prefix":"10.3390","volume":"18","author":[{"given":"Xueli","family":"Sheng","sequence":"first","affiliation":[{"name":"Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China"},{"name":"Key Laboratory of Marine Information Acquisition and Security (Harbin Engineering University), Ministry of Industry and Information Technology, Harbin 150001, China"},{"name":"College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1994-3845","authenticated-orcid":false,"given":"Yang","family":"Chen","sequence":"additional","affiliation":[{"name":"Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China"},{"name":"Key Laboratory of Marine Information Acquisition and Security (Harbin Engineering University), Ministry of Industry and Information Technology, Harbin 150001, China"},{"name":"College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China"}]},{"given":"Longxiang","family":"Guo","sequence":"additional","affiliation":[{"name":"Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China"},{"name":"Key Laboratory of Marine Information Acquisition and Security (Harbin Engineering University), Ministry of Industry and Information Technology, Harbin 150001, China"},{"name":"College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China"}]},{"given":"Jingwei","family":"Yin","sequence":"additional","affiliation":[{"name":"Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China"},{"name":"Key Laboratory of Marine Information Acquisition and Security (Harbin Engineering University), Ministry of Industry and Information Technology, Harbin 150001, China"},{"name":"College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China"}]},{"given":"Xiao","family":"Han","sequence":"additional","affiliation":[{"name":"Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China"},{"name":"Key Laboratory of Marine Information Acquisition and Security (Harbin Engineering University), Ministry of Industry and Information Technology, Harbin 150001, China"},{"name":"College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China"}]}],"member":"1968","published-online":{"date-parts":[[2018,9,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"37","DOI":"10.1109\/MAES.2005.1499275","article-title":"Probabilistic data association techniques for target tracking with applications to sonar, radar and EO sensors","volume":"20","author":"Barshalom","year":"2005","journal-title":"Aerosp. 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