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Article title REMOTE-CONTROLLED BOAT WITH SIDE-SCAN SONAR TO MAP THE SMALL WATER POND AND RIVER BOTTOM
Authors V.I. Kaevitser, A.P. Krivtsov, V.M. Razmanov, I.V. molyaninov, A.V. Elbakidze, E.Yu. Denisov
Section SECTION II. HYDROACOUSTICS
Month, Year 10, 2016 @en
Index UDC 551.463.621.391
DOI 10.18522/2311-3103-2016-10-8091
Abstract The description of the experimental stand-alone multi-functional complex, mounted on a ra-dio-controlled model boat, consisting of side-scan sonar (SSS) with chirp probing signal, GPS receiver, heading and pitching rate sensor and Wi-Fi access point is presented here. Sonar consists of microprocessor module, two-channel power amplifier of probing signals and two-channel amplifier of received echoes. The microprocessor controller with Field-Programmable Gate Array (FPGA) provides the formation of probing chirp signals, analog-to-digital conversion and the transfer of the digitized echo signals and spatial boat position sensors data to a Coast base com-puter station via Wi-Fi network for subsequent data handling, real-time display and archiving in PC external memory for later processing. The boat maneuvers are controlled by operator commands using specialized software in this same network. The experimental results of instrument operation in the inspection of a small pond bottom confirming the prospective of its use for different tasks are presented. In the analysis of the SSS received acoustic images, modulation of the amplitude image of the coastal zone in the form of interference was detected, which is associated with the imnterference of echoes from the bottom with reflections from the water surface. The possibility of calculating the bottom topography in single-channel side-scan sonar interferometry based on the principle known as Lloyd"s mirror interferometer is discussed. The possibility of applying this method to assess the depth of the coastal zone, and, as an example, build a fragment of a bathymetric map is described in this article. The advantage of the proposed method compared to the conventional methods of measurement is the depth of its potentially higher resolution. In case of operation in shallow water the method can serve as an additional mean of obtaining information about the structure and features of the bottom surface relief in the immediate vicinity of the coast, where the use of multibeam sonar and interferometric sonar systems is complicated.

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Keywords Stand Alone sonar; side-scan sonar; linear frequency modulation; base station; Sensors at-titude, Wi-Fi, acoustic imaging, Lloyd interferometer.
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