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By Sergio Rui Silva

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With the maturing of image formation algorithms, real-time image formation will further extend the application possibilities of synthetic aperture sonar systems. Bottom height mapping is possible through the use of a double array of transducers and also by exploring the possibility of dual-pass interferometry. In this case the combination of images of the same scene obtained from different positions of the platform will allow the construction of three dimensional maps of the analyzed surfaces. 40 Advances in Sonar Technology 13.

Line tracking performance. 35 26 Advances in Sonar Technology In Fig. 10 it is illustrated the path following ability of the autonomous boat, where it was programmed to execute two parallel profiles with a distance of 1 m of each other. 815 4 x 10 Fig. 11. Example path. Fig. 12 shows the boat velocity graph, measured by the navigation system, during the execution of a profile. Velocity vs. 46 -20 -15 -10 -5 0 Along-track (m) 5 10 15 20 Fig. 12. Autonomous boat velocity during a mission. 7. Synthetic aperture sonar system model Consider a platform that moves trough a nominal straight path.

Synthetic Aperture Techniques for Sonar Systems 31 At this stage data filtering and frequency equalization can be applied. The next step is synthetic aperture formation that should use the available navigation data to synthesize the virtual array and form the sonar image. Fig. 14 shows these steps in succession for an image of an artificial target placed in the river bottom for a test mission. Note that the first image has low along and cross track resolution because its unprocessed, the second image has better cross-track resolution due to pulse compression and finally the last image, which is the result of synthetic aperture processing, resembles a small point.

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