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This device can perform several tasks in parallel and at high speed. The system complexity stands, therefore, in the digital domain, enabling more flexible and higher quality signal acquisition and processing through this implementation. The use of this technology results in a low power consumption system that fits a small box, compatible with the autonomous boat both in size and energy consumption. The FPGA system is responsible for the generation of complex acoustic signals, for controlling the transmitting power amplifiers and the adaptive gain low noise receiving amplifiers, for demodulating and for match filtering the received signals with the transmitted waveform (Fig.

Furthermore unsupervised surveillance applications that combine the high quality sonar images with the effectiveness of an autonomous craft are possible. Sonar images obtained in this way can be easily integrated in geographical information systems. Using back-projection algorithms one is no longer restricted to linear paths, and deviations from this path are not treated as errors, but simply as sampling positions. Phase errors due to navigation uncertainties and medium fluctuations cause blurring of the image.

Line tracking performance. 35 26 Advances in Sonar Technology In Fig. 10 it is illustrated the path following ability of the autonomous boat, where it was programmed to execute two parallel profiles with a distance of 1 m of each other. 815 4 x 10 Fig. 11. Example path. Fig. 12 shows the boat velocity graph, measured by the navigation system, during the execution of a profile. Velocity vs. 46 -20 -15 -10 -5 0 Along-track (m) 5 10 15 20 Fig. 12. Autonomous boat velocity during a mission. 7. Synthetic aperture sonar system model Consider a platform that moves trough a nominal straight path.

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