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3d imaging software tools for multibeam sonar data
PublikacjaArtykuł porusza problem trójwymiarowej wizualizacji dna morskiego na podstawie danych pochodzących z systemu wielowiązkowego. W prezentowanym systemie wykorzystano trzy technologie programistyczne do wytwarzania grafiki 3D (C++ OpenGL, Java 3D, Java OpenGL). W artykule przedstawiono problemy, na które natknięto się podczas tworzenia systemu coraz omówiono sposoby ich rozwiązywania.
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Web-based 3D processing and dissemination of multibeam sonar data
PublikacjaThe continuous detailed surveys of the various water bodies over time produce a large and ever-increasing volume and density of underwater sounding data. Three-dimensional data, such as those obtained by multibeam sonar systems, are quite complex to manage, and thus their growing numbers increase the pressure on development of new solutions dedicated to processing them. This paper presents a concept system for web-based dissemination...
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Methodology for Processing of 3D Multibeam Sonar Big Data for Comparative Navigation
PublikacjaAutonomous navigation is an important task for unmanned vehicles operating both on the surface and underwater. A sophisticated solution for autonomous non-global navigational satellite system navigation is comparative (terrain reference) navigation. We present a method for fast processing of 3D multibeam sonar data to make depth area comparable with depth areas from bathymetric electronic navigational charts as source maps during...
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Kalman filtering for 3d real time data visualisation of multibeam sonar records.
PublikacjaPrzedstawiono zastosowanie filtracji Kalmana do korekcji błędów systematycznych występujących w danych pochodzących z systemu wielozwiązkowego. Zaproponowano dwuetapową filtrację danych dla każdego wachlarza danych, która realizowana jest w czasie rzeczywistym. Zaprezentowano rezultaty wizualizacji dna morskiego przed i po filtracji.
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Safety enhancement using 3D multibeam sonar imaging in shallow waters areas
PublikacjaSonary wielowiazkowe wykorzystanee byc moga do poprawy bezpieczenstwa zeglugi na obszarach wod plytkich. Dzieki istotnej poprawie rozdzielczosci horyzontalnej i wertykalnej pomiarow zastosowane byc moga do obrazowania wod plytkich szczegolnie niebezpiecznych pod wzgledem nawigacyjnym.
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3D seafloor reconstruction using data from side scan and synthetic aperture sonar
PublikacjaSide scan and synthetic aperture sonars are widely used imaging systems in the underwater environment. They are relatively cheap and easy to deploy, in comparison with more powerful sensors, like multibeam echosounders. Although side scan and synthetic aperture sonars does not provide seafloor bathymetry directly, their records are finally related to seafloor images. Moreover, the analysis of such images performed by human eye...
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Combined spline wavelet decomposition for 3d seafloor imaging from multibeam sonar echoes
PublikacjaThe paper proposes combined spline-wavelet approach to the raw echoes seaflor imaging from Multibeam Sonar System (MBSS) records. Wavelet representation is closely related to image representation, due to its unique approximations properties. Splines have the best approximation properties among all known wavelets of a given order, so they are best suited for approximating of smooth seafloor surface. Additionaly, wavelet bases have...
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Processing of LiDAR and Multibeam Sonar Point Cloud Data for 3D Surface and Object Shape Reconstruction
PublikacjaUnorganised point cloud dataset, as a transitional data model in several applications, usually contains a considerable amount of undesirable irregularities, such as strong variability of local point density, missing data, overlapping points and noise caused by scattering characteristics of the environment. For these reasons, further processing of such data, e.g. for construction of higher order geometric models of the topography...
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Application of splines and wavelets along with TIN decimation to 3D imagingof seafloor from multibeam sonar data
PublikacjaW pracy przedstawiono dwie metody reprezentacji danych batymetrycznych otrzymanych z pomiarów z użyciem sonaru wielowiązkowego. Reprezentacja przy pomocy funkcji sklejanych jest odpowiednia dla baz danych, podczas gdy reprezentacja z wykorzystaniem funkcji falkowych posiada dobre właściwości kompresyjne.
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Least square spline modelling along with tin decimation for 3D seafloor mapping from multibeam sonar data.
PublikacjaPrzedstawiono wyniki prac związane z zastosowaniem algorytmu aproksymacyjnego minimalnokwadratowego do wizualizacji danych wysokorozdzielczych pochodzących z sonaru wielowiązkowego. Metoda pozwala na redukcję danych oraz łatwą ich modyfikację.
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3d Visualization of Seabed from Multibeam Sonar Records Using TriangularIrregular Mesh. W: [CD-ROM] Forum Acusticum Sevilla 2002. 3rd European Con-gres on Acoustics. XXXIII Spanish Congress on Acoustics-TECNIACUSTICA 2002.European and Japanese Symposium on Acoustics. Sevilla, Spain 16-20 Septem- ber 2002. Madrid: Soc. Espanola de Acustica**2002 vol. 33, [6 s.] 4 rys. bibliogr. 6 poz. ISBN: 84-87985-06-8 Special Issue of the Journal Revista de Acustica, vol.33, ano 2002. Trójwym. wizual.dna mors. z danych pochodz. z echosond wielowiąz. z wykorz.niergul.siat.TIN.
PublikacjaPrzedstawiono sposób trójwymiarowej wizualizacji dna morskiego przy wyko-rzystaniu siatki nieregularnej (TIN) otrzymanej w wyniku triangularyzacjioraz porównano otrzymane wyniki z rzeczywistymi pomiarami batymetrycznymidna Bałtyku Południowego.
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Multibaem Sonar Records Data Decimation Using Hierarchical Spline Interpolation
PublikacjaMultibeam sonar records feature high vertical and horizontal resolution. Interpolating and approximating, eventually displaying of of high volume scattered 3D raster data leads to some difficulties related to a computer processing power. The paper presents some advantages of using hierarchical splines in the context. Such an approach facilitates real time 3D MBS data rendering.
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Application of Shape From Shading Technique for Side Scan Sonar Images
PublikacjaSide scan sonar (SSS) is one of the most widely used imaging systems in the underwater environment. It is relatively cheap and easy to deploy in comparison with more powerful sensors like multibeam echosounder or synthetic aperture sonar. Although, the SSS does not provide directly the seafloor bathymetry measurements. Its outputs are usually in a form of grey level acoustic images of seafloor. However, the analysis of such images...
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Computer vision techniques applied for reconstruction of seafloor 3D images from side scan and synthetic aperture sonars data
PublikacjaThe Side Scan Sonar and Synthetic Aperture Sonar are well known echo signal processing technologies that produce 2D images of the seafloor. Both systems combines a number of acoustic pings to form a high resolution image of seafloor. It was shown in numerous papers that 2D images acquired by such systems can be transformed into 3D models of seafloor surface by algorithmic approach using intensity information, contained in a grayscaled...
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Multibeam Sonar Characterisation of Seafloor in the Context of Visualisation and Dissemination of Marine Data
PublikacjaThe paper presents the seafloor characterisation method based on multibeam sonar data. it relies on using three types of multibeam seafloor sensing data: 1) the grey-level sonar images (echograms) of seabed, 2) the 3D model of the seabed surface which consists of high resolution bathymetric data, 3) the set of time domain bottom echo envelopes received in the consecutive sonar beams. The classification is performed by utilisation...
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System for characterisation and multidimensional imaging of seafloor using multibeam sonar data
PublikacjaMultibeam sonars are widely used in applications like high resolution bathymetry measurements, underwater object detection and imaging, etc. Also, they are the promising tool in seafloor characterisation and classification, having several advantages over conventional single beam echosounders. The proposed approach to seafloor classification relies on the combined use of three different techniques. In each of them, a set of descriptors...
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Seafloor relief reconstruction from side scan sonar data
PublikacjaSide scan sonar is one of the most widely used imaging systems in the underwater environment. It is relatively cheap and easy to deploy, in comparison with more powerful sensors. Although side scan sonar does not provide seafloor bathymetry directly, its records are directly related to seafloor images. In the paper, the method for 3D seafloor relief reconstruction from side scan sonar data is presented. The method is based on the...
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Multibeam sonar data processing for seafloor characterisation
PublikacjaThe approach to seafloor characterisation was investigated. It relies on calculation of several descriptors (parameters) related to seabed type using three types of multibeam sonar data obtained during seafloor sensing: 1) the grey-level sonar images of seabed, 2) the 3D model of the seabed surface which consist of (x, y, z) points, 3) the set of time domain echo envelopes corresponding to several beams. The proposed method has...
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Combined method of multibeam sonar signal processing and image analysis for seafloor classification
PublikacjaThe combined approach to seafloor characterisation was investigated. It relies on calculation of several descriptors (parameters) related to seabed type using three types of multibeam sonar data obtained during seafloor sensing: 1) the grey-level sonar images (echograms) of seabed, 2) the 3D model of the seabed surface which consists of bathymetric data, 3) the set of time domain bottom echo envelopes received in the consecutive...
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Seafloor Characterisation and Imaging Using Multibeam Sonar Data
PublikacjaThe approach to seafloor characterisation and imaging is presented. It relies on the combined, concurrent use of several techniques of multibeam sonar data processing. The first one is based on constructing the grey-level sonar images of seabed using the backscattering strength calculated for the echoes received in the consecutive beams. Then, the set of parameters describing the local region of sonar image is calculated. The second...
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On Algorithm Details in Multibeam Seafloor Classification
PublikacjaRemote sensing of the seafloor constitutes an important topic in exploration, management, protection and other investigations of the marine environment. In the paper, a combined approach to seafloor characterisation is presented. It relies on calculation of several descriptors related to seabed type using three different types of multibeam sonar data obtained during seafloor sensing, viz.: 1) the grey-level sonar images (echograms)...
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3D Object Shape Reconstruction from Underwater Multibeam Data and Over Ground Lidar Scanning
PublikacjaThe technologies of sonar and laser scanning are an efficient and widely used source of spatial information with regards to underwater and over ground environment respectively. The measurement data are usually available in the form of groups of separate points located irregularly in three-dimensional space, known as point clouds. This data model has known disadvantages, therefore in many applications a different form of representation,...
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Using Principal Component Analysis and Canonical Discriminant Analysis for multibeam seafloor characterisation data
PublikacjaThe paper presents the seafloor characterisation based on multibeam sonar data. It relies on using the integrated model and description of three types of multibeam data obtained during seafloor sensing: 1) the grey-level sonar images (echograms) of seabed, 2) the 3D model of the seabed surface which consists of bathymetric data, 3) the set of time domain bottom echo envelopes received in the consecutive sonar beams. The classification...
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Seafloor characterisation using multibeam data: sonar image properties, seabed surface properties and echo properties
PublikacjaIn the paper, the approach to seafloor characterisation is presented. The multibeam sonars, besides their well verified and widely used applications like high resolution bathymetry and underwater object detection and imaging, are also the promising tool in seafloor characterization and classification, having several advantages over conventional single beam echosounders. The proposed approach relies on the combined, concurrent use...
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Sensors and Sensor’s Fusion in Autonomous Vehicles
PublikacjaAutonomous vehicle navigation has been at the center of several major developments, both in civilian and defense applications. New technologies such as multisensory data fusion, big data processing, and deep learning are changing the quality of areas of applications, improving the sensors and systems used. New ideas such as 3D radar, 3D sonar, LiDAR, and others are based on autonomous vehicle revolutionary development. The Special...
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Multibeam data processing for 3D object shape reconstruction
PublikacjaThe technology of hydroacoustic scanning offers an efficient and widely-used source of geospatial information regarding underwater environments, providing measurement data which usually have the structure of irregular groups of points known as point clouds. Since this data model has known disadvantages, a different form of representation based on representing surfaces with simple geometric structures, such as edges and facets,...
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Processing of Hydroacoustic and LiDAR Data for Three-dimensional Surface Reconstruction
PublikacjaThe technologies of sonar and laser scanning are commonly used for obtaining spatial information about underwater and over ground environments in the form of point clouds. Since this data model has known disadvantages, a more practical solution of visualising such data involves the creation of solid three-dimensional meshes composed of edges and facets. In this paper, several methods for 3D shape reconstruction of data obtained...
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Processing data on sea bottom structure obtained by means of the parametric sounding
PublikacjaThe aim of the paper is to analyze data obtain during sounding of the Gdansk Bay by means of the parametric sonar. The accuracy of the sea bottom structure investigation needs the correct configuration of research equipment and the proper calibration of peripheral devices (GPS, heading sensor, motion sensor MRU-Z and navigation units) which provide necessary data to bathymetrical measurement system enabling its work with whole...
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Detection Range of Intercept Sonar for CWFM Signals
PublikacjaStealth in military sonars applications may be ensured through the use of low power signals making them difficult to intercept by the enemy. In recent years, silent sonar design has been investigated by the Department of Marine Electronic Systems of the Gdansk University of Technology. This article provides an analysis of how an intercept sonar operated by the enemy can detect silent sonar signals. To that end a theoretical intercept...
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Analysis of distance measurement errors in CW FM sonar with MLS code modulation
PublikacjaAlthough used in the classic silent sonar, the CW FM sounding signal has a major flaw which is its inaccuracy in determining the distance to a target. The authors of the article have developed a concept of silent sonar using frequency modulation signals switched by pseudorandom codes, already discussed in their previous work. This article presents a detailed analysis of errors in CW FM sonar with pseudo-random sequence code modulation...
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Seafloor Characterisation Using Underwater Acoustic Devices
PublikacjaThe problem of seafloor characterisation is important in the context of management as well as investigation and protection of the marine environment. In the first part of the paper, a review of underwater acoustic technology and methodology used in seafloor characterisation is presented. It consists of the techniques based on the use of singlebeam echosounders and seismic sources, along with those developed for the use of sidescan...
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Radar and Sonar Imaging and Processing
PublikacjaThe 21 papers (from 61 submitted) published in the Special Issue “Radar and Sonar Imaging Processing” highlighted a variety of topics related to remote sensing with radar and sonar sensors. The sequence of articles included in the SI dealt with a broad profile of aspects of the use of radar and sonar images in line with the latest scientific trends. The latest developments in science, including artificial intelligence, were used.
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Radar and Sonar Imaging and Processing (2nd Edition)
PublikacjaThe 14 papers (from 29 submitted) published in the Special Issue “Radar and Sonar Imaging Processing (2nd Edition)” highlight a variety of topics related to remote sensing with radar and sonar sensors. The sequence of articles included in the SI deal with a broad profile of aspects of the use of radar and sonar images in line with the latest scientific trends, in which the latest developments in science, including artificial intelligence,...
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INVESTIGATION INTO INTERFEROMETRIC SONAR SYSTEM ACCURACY
PublikacjaThe results of the accuracy measurements of phase differencing bathymetric sonar (PDBS) system in shallow waters are presented in the article. The measurement results were compared with the theoretical calculations for sonar system accuracy and international standards for hydrographic surveys. The proposed formulas enable to assess a priori sonar system performance using system quality factor (SQF), which takes into account influence...
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Estimating Intercept Range of Silent Sonar
PublikacjaWhen used in military application, sonars should ensure secretiveness. There is some evidence suggesting that silent sonars have a significant advantage over pulse sonars in the respect. If improved, the secretiveness of silent sonar translates into the distance over witch its soundings signal are detected by intercept sonars. The article gives estimated distances for far, medium, and short range sonars operating in the oceans...
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Acoustical images of the Gulf of Gdansk
PublikacjaAcoustic images of seabed are of interest to specialists in the field of marine engineering, marine navigation, marine archeology, hydrogeology, etc. New technolo gies based on use of elastic waves, predominantly acoustic waves that allow detecting complexity of geometric forms of seabed, ensure progress in studying the bathymetric structure of seafloor. Use of parametric sources of waves generated...
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Using wavelet techniques for multibeam sonar bathymetry data compression
PublikacjaMultibeam sonars are widely used in applications like high resolution bathymetry measurements or underwater object imaging. One of the significant problems in multibeam sensing of the marine environment is large amount of data which must be transmitted from the sonar processing unit to an operator station using a limited bit rate channel. For instance, such a situation would be in the case when the multibeam sonar was mounted on...
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On the compression of multibeam sonar raw bathymetry data
PublikacjaMultibeam sonars are widely used in applications like high resolution bathymetry measurements or underwater object imaging. One of the significant problems in multibeam sensing of the marine environment is large amount of data which must be transmitted from the sonar processing unit to an operator station using a limited bit rate channel. For instance, such a situation would be in the case when the multibeam sonar was mounted on...
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Doppler effect in the CW FM sonar
PublikacjaWhen sonars are used for military purposes they have to ensure unobtrusive operation, a feature that can be potentially secured by 'silent sonar' or continuous wave frequency modulation sonars (CW FM sonars). The article presents how these sonars operate and identifies the relations between their parameters. The Doppler effect and its impact on the CW FM sonar are studied to identify how it affects the sonar's parameters. The results...
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Experimental Study of Silent Sonar
PublikacjaStealth is a frequent requirement in military applications and involves the use of devices whose signals are difficult to intercept or identify by the enemy. The silent sonar concept was studied and developed at the Department of Marine Electronic Systems of the Gdansk University of Technology. The work included a detailed theoretical analysis, computer simulations and some experimental research. The results of the theoretical...
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Seabed classification using multibeam echosounder
PublikacjaThe method of seabed identification and classification from multibeam sonar echoes is presented. The proposed approach is based on calculation of a set of parameters of an echo envelope, similarly as in seafloor classification using single beam echosounder. These parameters are extracted for each consecutive beam allowing the estimation of their dependence on the seafloor incident angle. The relation between seabed type and calculated...
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Usage of the Gstreamer framework for generation, analysis, processing and visualization of sonar signal
PublikacjaIn this paper a novel method of the bearing estimation in a passive sonar system with a towed array is introduced. The classical approach of the bearing estimation based on the spatial spectrum is extended by using the synchrosqeezing method that is a part of the reassignment method introduced by Kodera et al. The usage of this method leads to the precise bearing estimation. The proposed method requires a relatively small amount...
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THE SYNCHROSQUEEZING METHOD IN BEARING ESTIMATION OF STATIONARY SIGNALS FOR PASSIVE SONAR WITH TOWED ARRAY
PublikacjaIn this paper, a novel method of bearing estimation in a passive sonar system with a towed array is introduced. The classical approach of bearing estimation based on the spatial spectrum [1] is extended by using the synchrosqeezing method that is a part of the reassignment method introduced by Kodera et al. [2]. Using this method leads to a precise bearing estimation. The proposed method requires a relatively small amount of computation,...
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High-precision bearing estimation for active sonar with cylindrical array performed by interpolated array transformation
PublikacjaThe article presents a method for improving the accuracy of bearing in multibeam sonar with a cylindrical array. The antenna’s non-linear shape and the resulting non-uniform sampling of the signal in space, mean that known methods of high-resolution spectral analysis cannot be used. In order to apply an algorithm from this group, a linear virtual antenna must be produced. The paper presents a technique of mapping a cylindrical...
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Implementation of the digital receiver in multibeam long-range sonar
PublikacjaThe article presents the implementation of a digital receiver in multibeam long - range sonar. Developed by the authors of the article, the implementation was part of sonar modernisation on large Polish Navy ships. The article explains the structure of the receiver, its design details and requirements affecting the architecture. The technical solutions regarding the equipment and signal processing algorithms for determining receiving...
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seafloor characterisation combined approach using multibeam sonar echo signal processing and image analysis
PublikacjaThe authors propose the approach to seafloor characterisation which relies on the combined, concurrent use of two different techniques: (i) multibeam sonar image analysis and (ii) multibeam seabed echoes processing. The first technique is based on constructing the grey-level sonar images of the seabed extracted from the echoes received in the consecutive soundings. Then, the set of parameters describing the local region of sonar...
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Direction-of-Arrival Estimation Methods in Interferometric Echo Sounding
PublikacjaNowadays, there are two leading sea sounding technologies: the multibeam echo sounder and the multiphase echo sounder (also known as phase-dierence side scan sonar or bathymetric side scan sonar). Both solutions have their advantages and disadvantages, and they can be perceived as complementary to each other. The article reviews the development of interferometric echo sounding array configurations and the various methods applied...
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Using multibeam echoes in seafloor characterisation and classification
PublikacjaThe method of seabed identification and classification from multibeam sonar echoes is presented. The proposed approach is based on calculation of a set of parameters of an echo envelope, similarly as in seafloor classification using single beam echosounder. These parameters are extracted for each consecutive beam allowing the estimation of their dependence on the seafloor incident angle. The relation between seabed type and calculated...
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Noise effect on parameters of quiet sonar with code modulation
PublikacjaEarlier publications of the paper authors have shown that the use of code keying mixed with the CW FM sound signal allows the significant reduction in the distance measurement error, compared to classic silent CW FM sonar. In addition to the code modulation parameters, the magnitude of this error is influenced by the received input acoustic noise. The article shows the dependence of the input signal-to-noise ratio and the sound...
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Seafloor characterisation using multibeam sonar echo signal processing and image analysis
PublikacjaThe authors propose the approach to multibeam seafloor characterisation which relies on the combined, concurrent use of two different techniques of multibeam sonar data processing. The first one is based on constructing the grey-level sonar images of seabed using the echoes received in the consecutive beams. Then, the parameters describing the local region of sonar image, namely, the local standard deviation of a grey level, and...