Fig. 1. Detection results by thresholds.
Fig. 2. Detection results by false detection elimination algorithms.
Fig. 3. Diagram of automatic target tracking algorithm based on track existence probability in diver detection sonar.
Fig. 4. Relationship map of track state.
Fig. 5. A example of automatic target tracking.
Fig. 6. Situation of multi-target tracking.
Fig. 7. Sea trial data.
Fig. 8. The number of detection data.
Fig. 9. Confirmed tracks.
Fig. 10. Confirmed true track.
Fig. 11. The number of tentative and confirmed tracks.
Fig. 12. Simulation scenario.
Fig. 13. IPDAF single simulation results.
Fig. 14. LMIPDAF single simulation results.
Fig. 15. Confirmed true track rate.
Fig. 16. Position RMSE at x - axis.
Fig. 17. Position RMSE at y - axis.
Table 1. Speed for detection data of 2 scans.
Table 2. Simulation conditions.
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