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Australian Paralympian Kathryn Ross has returned from a three-year hiatus to win gold in the PR2 women's single scull at the World Rowing Championships.

Three-time Paralympian Kathryn Ross has won gold in the PR2 women's single scull while Australian boats booked two more berths in next year's Olympics at the World Rowing Championships in Austria.

Ross, returning to rowing for the first time since the Rio Paralympic Games in 2016, led from the start and cross the line in nine minutes and 37 seconds at Linz-Ottensheim on Friday.

"I'm ecstatic, all the hard work has paid off. Not once did my coach (Renae Domaschenz) not think it was possible - she believed in me and got me to where I am today," she said in a statement.

"It's great being in the World Championships environment, it's amazing how much I've missed it, the excitement, the adrenaline and all the wonderful people that run events like this one.

"I love being part of the Australian Rowing Team, we're one big family and we all support each other - it doesn't matter what boat class you're in, everyone's behind you all the way."

Three other Australians claimed medals on Friday, with Jed Altschwager and William Smith winning silver in the PR3 men's pair and Sean Murphy winning bronze in the lightweight men's single sculls.

Meanwhile, five-time world champion Erik Horrie's qualification for Sunday's PR1 men's single scull final ensured himself a berth at next year's Paralympics.

Australia men's pair Joshua Hicks and Sam Hardy have qualified for the Tokyo Olympics after a tight second-placed finish behind New Zealand in their A-Final.

Australia's men's and women's double sculls also have a chance at qualifying for the Olympics if they finish in the top-five of their B-Finals on Saturday.