Dealing with Sonar Noise Techniques? Kalman filters, ERUF etc...

Hi all, Sorry to send two messages, but vaguely different topics.
I've been reading about different techniques to deal with sonar noise,
erroneous echoes and cross talk. Topics if looked at are Kalman filters and ERUF. Anyone any ideas on which is better? There seem to be several different types of Kalman filters, again any preferences?
Outline spec: 8 Sonars, Indoor environment.
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