DocumentCode :
2761795
Title :
Signal processing for AUV based interferometric synthetic aperture sonar
Author :
Hansen, Roy Edgar ; Saebo, Torstein Olsmo ; Gade, Kenneth ; Chapman, Sean
Author_Institution :
Norwegian Defence Res. Establ., Kjeller, Norway
Volume :
5
fYear :
2003
fDate :
22-26 Sept. 2003
Firstpage :
2438
Abstract :
This paper presents signal processing techniques particularly suited for interferometric Synthetic Aperture Sonar (SAS) systems onboard Autonomous Underwater Vehicles (AUV) (or other platforms carrying high grade navigation systems). The signal processing is applied to data collected in a controlled rail experiment at Elba Island, Italy, using a wideband interferometric SAS and an Inertial Navigation System (INS). We evaluate different strategies in fusing sonar micronavigation by the Displaced Phase Center Antenna (DPCA) technique with Aided INS (AINS). We obtained highest navigation accuracy using DPCA as aiding sensor into the AINS, then using raw DPCA surge and sway in combination with the AINS attitude and position. Coarse cross correlation based bathymetry and full resolution interferometry (based on the interferogram) is tested on the full swath and objects. Coarse bathymetry is more reliable than the interferogram technique. Phase wraparounds are avoided by estimating the coarse bathymetry first, then using the full resolution phase estimates as correction. Although much work remains, this technique does show a clear potential in improving object classification ability.
Keywords :
bathymetry; image classification; object detection; oceanographic techniques; sonar imaging; sonar signal processing; synthetic aperture sonar; underwater vehicles; AINS attitude; AINS position; AUV based SAS; DPCA surge; DPCA sway; DPCA technique; Elba Island; Italy; aided INS; aiding sensor; autonomous underwater vehicles; controlled rail experiment; cross correlation based bathymetry; displaced phase center antenna; full resolution interferometry; inertial navigation system; interferogram; interferometric SAS systems; navigation systems; object classification ability; signal processing technique; sonar micronavigation fusion; synthetic aperture sonar; wideband interferometric SAS; Control systems; Inertial navigation; Phase estimation; Rails; Signal processing; Sonar navigation; Surges; Synthetic aperture sonar; Underwater vehicles; Wideband;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
OCEANS 2003. Proceedings
Conference_Location :
San Diego, CA, USA
Print_ISBN :
0-933957-30-0
Type :
conf
DOI :
10.1109/OCEANS.2003.178294
Filename :
1282927
Link To Document :
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