Improvement of small aperture multi-beam sonar bathymetry algorithm
The use of multiple signal classification(MUSIC)algorithm in multi-beam bathymetry sonar can ensure high angular resolution in small array sizes.However,due to low signal-to-noise ratios of edge beams of underwater echoes,strong pseudo peak interference in MUSIC pseudo spectrum will lead to errors in depth estimation results of subsequent bathymetry algorithms.To solve this problem,this paper proposes a modified peak search algorithm(MPSA)based on maximum signal-to-noise ratio.This algorithm assumes that the underwater terrain of adjacent beams has slow variability,selects the moment with the highest echo signal-to-noise ratio,and uses the MUSIC algorithm to estimate the direction of arrival to obtain the signal angle and time reference value.Then,the time expected value is used to weight and peak search the echo signal to the left and right sides respectively,achieving more accurate bathymetry.Finally,the effectiveness of the algorithm proposed in this paper was verified through actual measurements.Under specific conditions,the algorithm can reduce the maximum bathymetry error of the edge beam by 25.85％and the average bathymetry error by 8.02％.
Multi-beam bathymetry sonarSmall aperture arrayMultiple signal classification algorithmModified peak search
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