Novel sonar map-building based on physical principles of reflection

A novel characterization of sonar reflections is described based on the physical principles of scattering from surfaces. This characterization provides considerable improvement over conventional time-of-flight systems for generating sonar maps. The procedure developed also allows the integration of various types of environments into a single framework. A new parametrization of the sonar echo is developed based on the energy content and duration of the echo. These parameters are functions of the surface roughness and orientation. The echo-energy and echo-duration maps allow the identification of smooth, moderately rough and rough surfaces