水下无人系统学报2026，Vol.34Issue(3)：516-523,8.DOI:10.11993/j.issn.2096-3920.2026-0063
基于多传感器的圆周合成孔径声呐运动补偿方法
A Motion Compensation Method for Circular Synthetic Aperture Sonar Based on Multi-Sensor
摘要
Abstract
Circular synthetic aperture sonar(CSAS)is a high-resolution underwater imaging sonar system mounted on a mobile platform,whose imaging quality is highly sensitive to the precision of platform position and attitude.However,in practical survey operations,platforms are often affected by environmental disturbances such as ocean currents and waves,causing deviations from the ideal trajectory and resulting in position and attitude errors,which significantly degrade imaging quality.Existing CSAS motion compensation methods mainly rely on underwater acoustic positioning systems to obtain the platform position.However,such methods usually require the deployment of additional underwater acoustic base stations,with a strong dependence on external equipment.To address this issue,this paper investigated the influence of CSAS platform motion errors on imaging results and the corresponding geometric compensation methods.A CSAS platform motion compensation method based on multi-sensor fusion of the global positioning system(GPS)and the inertial navigation system(INS)was proposed.By integrating the position information obtained from GPS with the attitude data provided by the INS,the spatial pose of the sonar platform could be jointly estimated,and the spatial position of the sonar array could be corrected accordingly,thereby reducing the influence of platform motion errors on the imaging results.The influence of platform motion errors on imaging results was simulated and analyzed,and the effectiveness of the proposed method was verified through lake trial data.The experimental results demonstrate that the proposed approach can effectively compensate for motion errors caused by platform motion and significantly improve the imaging quality of CSAS.The proposed method does not rely on external underwater acoustic positioning systems and instead utilizes only the onboard navigation sensors of the platform to achieve effective motion compensation.This provides a simple and practical solution for high-resolution CSAS imaging in complex environments.关键词
圆周合成孔径声呐/运动补偿/水下目标成像/多传感器融合Key words
circular synthetic aperture sonar/motion compensation/underwater target imaging/multi-sensor fusion分类
军事科技引用本文复制引用
黄天风,叶天明,杜选民,杨天霖..基于多传感器的圆周合成孔径声呐运动补偿方法[J].水下无人系统学报,2026,34(3):516-523,8.基金项目
国家自然科学基金项目资助(12404516). （12404516）
