Motion Compensation in High Resolution Synthetic Aperture Sonar (SAS) Images

The sequence of echoes detected by an active Synthetic Aperture Sonar (SAS) is coherently added in an appropriate way to produce an image with greatly enhanced resolution in the azimuth, or along-track direction when compared with an image obtained from a standard Side Looking Sonar (SLS). The SAS processing originates from the Synthetic Aperture Radar (SAR) concept. A complete introduction to SAR technique can be found in (Sherwin et al., 1962), (Walker, 1980), (Wiley, 1985) and (Curlander & McDonough, 1991). Raytheon was issued in 1969 a patent for a high-resolution seafloor imaging SAS (Walsh, 1969) and 1971 analyzed a potential system in terms of its resolution and signal-to-noise ratio. Cutrona was the first well-known radar specialist to point out how the various aspects of SAR could be translated to an underwater SAS (Cutrona, 1975). Hughes (1977) compared the performance of a standard SLS to an SAS and showed that the potential mapping rate for SAS was significantly higher than for side-looking sonar. At the time there was an assumption that the instability of the oceanic environment would prevent the formation of SAS imagery. Experimental work, which was performed by Williams (1976) and Christoff et al. (1982), refuted the instability worry. The verification of this assertion performed at higher frequencies by Gough & Hawkins (1989). Later, other concerns regarding the stability of the towed platform were also raised and some railor wire-guided trails where set up to avoid this extra complication. Nowadays there are a multiple of systems as hull mounted SAS systems, towed SAS systems and Autonomous Underwater Vehicles (AUV) systems. For further reading one can find an extended historical background of SAS in (Gough & Hawkins, 1997). Time and experience were needed to adapt SAR algorithms to SAS systems; the SAS systems use smaller radiating elements in proportion to the wavelength, which leads to higher radiation pattern of SAS with respect to SAR. The range migration effect on synthetic aperture processing is significant and pronounced in SAS imagery. An additional difference between SAR and SAS systems is the synthetic aperture time being greater in one order of magnitude in SAS, which leads to a phase corruption due to the medium fluctuations and platform instabilities. Typical synthetic aperture times for SAR are of the order of seconds with a medium coherence of some days, whereas for SAS the typical synthetic aperture time is of the order of several minutes with a similar medium coherence time (Marx et al. 2000). O pe n A cc es s D at ab as e w w w .in te ch w eb .o rg