• Journal of Aerospace System Engineering
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• v.16 no.6
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• pp.1-7
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• 2022

A simulated radar terrain scan data generation method is employed for terrain following. This method scans the discrete terrain by sequentially radiating beams from the radar to the desired scan area with the same azimuth but varying elevation angles. The terrain data collected from the beam is integrated to generate the simulated radar terrain scan data, which comprises radar-detected points. However, these points can be located far from the beam centerline when the radar is far from them due to beam divergence. This paper proposes a geometry-based terrain scan data generation method for analysing simulated radar terrain scan data. The method involves detecting geometric points along the beam centerline, which forms the geometry-based terrain scan data. The analysis of the simulated radar terrain scan data utilising this method confirms that the beam width effects are accounted for in the results.

• Journal of Sensor Science and Technology
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• v.32 no.2
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• pp.110-117
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• 2023

Reconstructing underwater geometry in real time with forward-looking sonar is critical for applications such as localization, mapping, and path planning. Geometrical data must be repeatedly calculated and overwritten in real time because the reliability of the acoustic data is affected by various factors. Moreover, scattering of signal data during the coordinate conversion process may lead to geometrical errors, which lowers the accuracy of the information obtained by the sensor system. In this study, we propose a three-step data processing method with low computational cost for real-time operation. First, the number of data points to be interpolated is determined with respect to the distance between each point and the size of the data grid in a Cartesian coordinate system. Then, the data are processed with a nonlinear interpolation so that they exhibit linear properties in the coordinate system. Finally, the data are transformed based on variations in the position and orientation of the sonar over time. The results of an evaluation of our proposed approach in a simulation show that the nonlinear interpolation operation constructed a continuous underwater geometry dataset with low geometrical error.