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Extra info for Advances in Sonar Technology
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.
A clever combination of the received signals enables the creation of a new one with an equivalent frequency equal to difference of the centre frequencies of the previous ones. This longer wavelength signal effectively masks phase uncertainties and enables efficient autofocus of the synthetic aperture sonar image. The synthetic aperture sonar thus enables enhanced imagery of underwater realms that combined with suitable platforms, such as an autonomous boat, can be obtained at low cost and high availability.
Autonomous boat and base station before a mission. Compared to a solution based on a tow-fish, this sonar platform was mainly chosen because of the possibility to use a GPS positioning system. The velocity and position following is of great importance too. Low frequency errors such as deviations from the desired linear path or inconstant mean velocity are in this way limited. Other surface crafts could be used, but it would still have to provide some degree of motion control. Having the sonar placed at the surface of the water, limits its use to shallow water realms such as rivers, lakes, dams harbours, etc, because of the maximum possible range.