{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,6]],"date-time":"2026-10-06T23:30:58Z","timestamp":1791329458551,"version":"4.3.1"},"reference-count":49,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2025,6,16]],"date-time":"2025-06-16T00:00:00Z","timestamp":1750032000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Ministry of Science and Higher Education of the Russian Federation","award":["075-15-2024-544"],"award-info":[{"award-number":["075-15-2024-544"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The linear pseudo-measurements filter is adapted for use in a stochastic observation system with random time delays between the arrival of observations and the actual state of a moving object. The observation model is characterized by limited prior knowledge of the measurement errors distribution, specified only by its first two moments. Furthermore, the proposed model allows for a multiplicative dependence of errors on the state of the moving object. The filter incorporates direction angles and range measurements generated by several independent measurement complexes. As a practical application, the method is used for tracking an autonomous underwater vehicle moving toward a stationary target. The vehicle\u2019s velocity is influenced by continuous random disturbances and periodic abrupt changes. Observations are performed by two stationary acoustic beacons.<\/jats:p>","DOI":"10.3390\/s25123757","type":"journal-article","created":{"date-parts":[[2025,6,16]],"date-time":"2025-06-16T06:40:27Z","timestamp":1750056027000},"page":"3757","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Linear Pseudo-Measurements Filtering for Tracking a Moving Underwater Target by Observations with Random Delays"],"prefix":"10.3390","volume":"25","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7163-341X","authenticated-orcid":false,"given":"Alexey","family":"Bosov","sequence":"first","affiliation":[{"name":"Federal Research Center \u201cComputer Science and Control\u201d of the Russian Academy of Sciences, 44\/2 Vavilova Str., 119333 Moscow, Russia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,6,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Mohsan, S.A.H., Khan, M.A., Noor, F., Ullah, I., and Alsharif, M.H. 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