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- Sistema de rastreamento de alvos multi-sensor para veículos Wing-in-GroundPublication . FERNANDES, JOSÉ CARLOS PINTO; Dias, André Miguel PinheiroWing-In-Ground-effect (WIG) craft are specialized vehicles that leverage the groundeffect phenomenon - characterized by increased lift and reduced drag when flying close to a surface such as water. This effect enables Wing-In-Ground-effect (WIG) vehicles to achieve higher speeds and carry greater payloads with lower fuel consumption compared to conventional aircraft. However, the exploitation of groundeffect presents significant operational challenges: traditional pilots are not typically trained to maintain sustained flight in this regime, and the near-surface environment contains numerous dynamic and static obstacles. These complexities require the development of a robust autonomous navigation and obstacle avoidance system tailored for WIG applications. This work presents a multi-sensor multi-target perception system for autonomous WIG vehicles. The system integrates multiple sensor modalities to exploit their complementary strengths and minimize individual limitations. It is capable of estimating the position, velocity, and acceleration (depending on the motion model applied) of a target with a Kalman filter. The targets are tracked individually, each with an independent estimator, in which sensor measurements are associated with the Joint Probabilistic Data Association Filter to guarantee accurate target association even in cluttered environments. The resulting system provides reliable environmental awareness and forms a necessary component of an autonomous control framework for WIG craft.