Underwater multi-target tracking method

The invention relates to an underwater multi-target tracking method, which comprises the following steps of: establishing a three-dimensional space coordinate system, acquiring coordinates of a sensor, and monitoring the volume of a water body, a coordinate Z2 of a water surface on a Z axis, a coordinate Z3 of a water bottom on the Z axis and clutter density lambda; the sensor periodically acquires measurement information, the measurement information comprises an azimuth angle, a pitch angle and time delay between the azimuth angle and a direct wave, a set of the measurement information in the ith frame is recorded as Z (i), and the number of the measurement information of a single target acquired by the sensor is L; k virtual targets cK = [c1, c2,..., cK] are randomly generated in the monitored water body volume, and the possibility that one piece of measurement information comes from a certain propagation path is expressed according to a priori formula; establishing an underwater target model according to t