A method for estimating the sub-wavelength sway of a sonar towfish

The essentially random motion of the towfish in a side scan sonar system limits the fidelity of the resultant image. Although corrective techniques have been developed to deal with the gross departures from a set of regular amplitude versus range samples along a straight locus as well as the gross rotational errors, sub-wavelength displacement errors are mostly ignored. This paper suggests a technique to estimate the appropriate displacement errors from the statistics of the measured data when there are few or no strong scatterers on an otherwise featureless sea floor. As it happens, the proposed technique is somewhat similar to an existing optical technique but is new to underwater sonar. We show in a series of simulated trials that it is possible to estimate the resultant sub-wavelength horizontal departure from a straight locus under some (hopefully) realistic operating conditions