Abstract:
The proposed Doppler Velocity Imaging Sonar (DVIS) device is a 3D multibeam sonar
that measures Doppler velocity in addition to range. It consists of a single omnidirectional
transmitter and a 2D grid of receivers. An acoustic pulse is transmitted to ensonify a large
portion of the scene. Acoustic returns from all the ensonified surfaces are collected by
the 2D grid of receivers. Beamforming is used to create a 2D grid of virtual beams, along
which the surface range and Doppler velocity are computed, producing a 3D point cloud
augmented with per-point Doppler velocity. The large number of Doppler measurements
should enable more accurate and robust vehicle velocity estimates for downstream
underwater navigation applications.
that measures Doppler velocity in addition to range. It consists of a single omnidirectional
transmitter and a 2D grid of receivers. An acoustic pulse is transmitted to ensonify a large
portion of the scene. Acoustic returns from all the ensonified surfaces are collected by
the 2D grid of receivers. Beamforming is used to create a 2D grid of virtual beams, along
which the surface range and Doppler velocity are computed, producing a 3D point cloud
augmented with per-point Doppler velocity. The large number of Doppler measurements
should enable more accurate and robust vehicle velocity estimates for downstream
underwater navigation applications.