Motion compensation algorithm with integrated multi-sensor for synthetic aperture sonar via Sage-Husa filter

With the noise statistics of motion measurement devices unknown,a motion compensation method for synthetic aperture sonar based on integrated multi-sensor via Sage-Husa filter is proposed.The Sage-Husa filter is taken to deal with the data from the different types of sensors,estimating the optimal value of the sonar velocity adaptively.Then the sway and heave errors between the actual track and the ideal track are calculated.Raw data can be corrected on the basis of time delay transformed from the track deviation at last.Simulation results confirm that the estimation accuracy of motion errors by Sage-Husa filter gets improved at least thirty-seven percent.Both the peak side lobe ratio and the integral side lobe ratio of the target decline obviously,the peak side lobe ratio is close to the ideal value.The field experiment results confirm that the problem of the target energy dispersion gets solved effectively and the energy are focused at the main lobe,the defocusing gets restrained.The Sage-Husa filter reduces the estimation error of the motion data without the priori knowledge of the multi-sensor system's noise statistics,which results in a better performance of the motion compensation.