• 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.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.83-84
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• 2008

It is efficient to use the time-domain beamforming to operate the various pulse with the different pulse length, frequency, bandwidth in active sonar system. In this paper, we propose a time-domain beamformer with the cumulative processing in the decomposed channel using the polynomial interpolation to solve the problem of the computational cost, high transmission data rate, and the lack of internal memory.