| dc.description.abstract | This report presents signal processing techniques particularly suited for interferometric Synthetic Aperture
Sonar (SAS) systems on-board 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, by SACLANTCEN, QinetiQ and FFI, 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 obtain 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. | en_GB |