This is a review paper that surveys past work in, and the recent status of, active synthetic aperture sonar (SAS). It covers the early historical development of SAS with its provenance in synthetic aperture radar (SAR) and flows through into what work has been published in the open literature up to early 2007. The list of references is sufficiently complete to include most past and recent SAS publications in the open refereed literature.

Synthetic Aperture Sonar: A Review of Current Status

This thesis contains the complete end-to-end simulation, development, implementation, and calibration of the wide bandwidth, low-Q, Kiwi-SAS synthetic aperture sonar (SAS). Through the use of a very stable towfish, a new novel wide bandwidth transducer design, and autofocus procedures, high-resolution diffraction limited imagery is produced. As a complete system calibration was performed, this diffraction limited imagery is not only geometrically calibrated, it is also calibrated for target cross-section or target strength estimation. Is is important to note that the diffraction limited images are formed without access to any form of inertial measurement information. Previous investigations applying the synthetic aperture technique to sonar have developed processors based on exact, but inefficient, spatial-temporal domain time-delay and sum beamforming algorithms, or they have performed equivalent operations in the frequency domain using fast-correlation techniques (via the fast Fourier transform (FFT)). In this thesis, the algorithms used in the generation of synthetic aperture radar (SAR) images are derived in their wide bandwidth forms and it is shown that these more efficient algorithms can be used to form diffraction limited SAS images. Several new algorithms are developed; accelerated chirp scaling algorithm represents an efficient method for processing synthetic aperture data, while modified phase gradient autofocus and a low-Q autofocus routine based on prominent point processing are used to focus both simulated and real target data that has been corrupted by known and unknown motion or medium propagation errors.

/pdf/synthetic-aperture-imaging-algorithms-with-application-to-2vl1f05sqj.pdf

Synthetic aperture imaging algorithms : with application to wide bandwidth sonar

This thesis contains a description of SAS processing algorithms, offering improvements in Fourier-based reconstruction, motion-compensation, and autofocus. Fourier-based image reconstruction is reviewed and improvements shown as the result of improved system modelling. A number of new algorithms based on the wavenumber algorithm for correcting second order effects are proposed. In addition, a new framework for describing multiple-receiver reconstruction in terms of the bistatic geometry is presented and is a useful aid to understanding. Motion-compensation techniques for allowing Fourier-based reconstruction in widebeam geometries suffering large-motion errors are discussed. A motion-compensation algorithm exploiting multiple receiver geometries is suggested and shown to provide substantial improvement in image quality. New motion compensation techniques for yaw correction using the wavenumber algorithm are discussed. A common framework for describing phase estimation is presented and techniques from a number of fields are reviewed within this framework. In addition a new proof is provided outlining the relationship between eigenvector-based autofocus phase estimation kernels and the phase-closure techniques used astronomical imaging. Micronavigation techniques are reviewed and extensions to the shear average single-receiver micronavigation technique result in a 3–4 fold performance improvement when operating on high-contrast images. The stripmap phase gradient autofocus (SPGA) algorithm is developed and extends spotlight SAR PGA to the wide-beam, wide-band stripmap geometries common in SAS imaging. SPGA supersedes traditional PGA-based stripmap autofocus algorithms such as mPGA and PCA—the relationships between SPGA and these algorithms is discussed. SPGA’s operation is verified on simulated and field-collected data where it provides significant image improvement. SPGA with phase-curvature based estimation is shown and found to perform poorly compared with phase-gradient techniques. The operation of SPGA on data collected from Sydney Harbour is shown with SPGA able to improve resolution to near the diffraction-limit. Additional analysis of practical stripmap autofocus operation in presence of undersampling and space-invariant blurring is presented with significant comment regarding

/pdf/signal-processing-for-synthetic-aperture-sonar-image-329722dihn.pdf

Signal Processing for Synthetic Aperture Sonar Image Enhancement

Introduction to Synthetic Array and Imaging Radars

The advantages of using wideband sonar systems in underwater acoustical imaging by means of synthetic aperture (side-looking) sonars are described and illustrated through simulation examples. The simulations are conducted for two cases of sonar platform motion: perfect trajectory and disturbed trajectory. Several schemes used for wideband synthetic aperture processing are investigated and their relative merits (resolution and complexity) in the case of both disturbed and perfect trajectories are evaluated. Quantitative image evaluation is initially achieved through the evaluation of performance as regards resolution. The problems involved in the definition of the image quality are discussed. >

Synthetic aperture sonar for seabed imaging: relative merits of narrow-band and wide-band approached

The application of synthetic aperture techniques to side-scan sonar imaging systems is investigated. Wideband echoes (one octave) are processed in the time domain. The relative merits of narrowband and wideband systems are shown using numerical simulations including sonar motion perturbations such as sway. Sonar image quality is described by azimuthal resolution. Although this criterion is an objective one, it can be insufficient for a highly perturbed situation. >

Synthetic aperture sonar: a wide-band approach

Synthese d'ouverture en acoustique sous-marine : Influence de l'effet doppler differentiel

The purpose of this paper is to present the design, development and testing of an innovative instrument called GraviMob, which allows performing dynamic measurements of underwater gravity anomalies. After recalling the interest in underwater gravimetry, we describe the system, the core of which consists of triads of accelerometers rigidly attached to an Autonomous Underwater Vehicle (AUV). The article also presents the mathematical methods for estimating the east, north and vertical components of the local gravity vector. An unscented Kalman filter, integrating AUV position and orientation data, performs estimation of gravity in a frame adapted to its interpretation. To assess its performance, GraviMob was tested in the Mediterranean Sea during the year 2016. A comparison of the surface gravimetric signal previously acquired by the French Navy indicates that the maximum discrepancy between the vertical gravity component and its reference is below 4 mGal. Components of the vertical deflection calculated from GraviMob’s measurements were compared with those calculated from recent gravity field models. While a remarkable agreement was found on the north component, there remains a discrepancy (7 arcsec) on the east component which can be largely reduced by refining the estimation of the orientation of GraviMob’s sensitive axes in the AUV.

/pdf/development-of-a-lightweight-inertial-gravimeter-for-use-on-1fpnslb0.pdf

Development of a Lightweight Inertial Gravimeter for Use on Board an Autonomous Underwater Vehicle: Measurement Principle, System Design and Sea Trial Mission

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Papers

Synthetic aperture sonar for seabed imaging: relative merits of narrow-band and wide-band approached

Synthetic aperture sonar: a wide-band approach

Synthese d'ouverture en acoustique sous-marine : Influence de l'effet doppler differentiel

Development of a Lightweight Inertial Gravimeter for Use on Board an Autonomous Underwater Vehicle: Measurement Principle, System Design and Sea Trial Mission