Underwater Bearing-Only Multitarget Tracking in Dense Clutter Environment Based on PMHT Xiaohua Li, Ya'an Li, Xiaofeng Lu, Chenxu Zhao and Jing Yu JNWPU, 38 2 (2020) 359-365 Published online: 17 July 2020 DOI: 10.1051/jnwpu/20203820359