Abstract
The ability to do synthetic aperture sonar (SAS) imaging from autonomous underwater vehicles (AUVs) has only recently been achieved. The combination of the two technologies is a milestone in the field of underwater sensing as the combination of high-resolution SAS imaging with AUVs will provide military, research, and commercial users with systems of unprecedented performance and capabilities. The U.S. Navy took delivery of the first AUV-based SAS in early 2003. A description of the system will be presented along with the methodologies employed. The emphasis will be on image quality and repeatability, as well as the differences associated with operating an AUV-based SAS as opposed to a towed SAS. Additional topics will include general comments and recommendations for better AUV/SAS integration such as mission planning and vehicle control strategies intended to maximize the chances of high-quality imagery, SAS motion measurement requirements coupled with on-board vehicle navigation, and the potential of using the SAS data to augment the vehicle motion sensors. Lastly, a brief overview of forthcoming Navy SAS systems will be included.
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