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This paper presents a novel approach to localize an underwater mobile robot based on scan matching using a <em>Mechanically Scanned Imaging Sonar</em> (MSIS). When used to perform scan matching, this sensor presents some problems such as significant uncertainty in the measurements or large scan times, which lead to a motion induced distortion. This paper presents the <em>uspIC</em>, which deals with these problems by adopting a probabilistic scan matching strategy and by defining a method to strongly alleviate the motion induced distortion. Experimental results evaluating our approach and comparing it to previously existing methods are provided.