In the process of multiple target tracking, sonar usually loses track of cross-moving targets.

为解决在多目标跟踪过程中，声纳存在交叉运动目标失跟问题。

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Sonar :Technique for detecting and determining the distance and direction of underwater objects by tracking acoustic echoes.

声纳：利用声学方法侦测或测定水下物体的距离和方向的技术。

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