The IVE stage first initializes all parameters except for microphone array orientations, using hybrid TDOA (i.e., TDOA-M and TDOA-S), odometer data from a moving robot carrying a speaker, and DOA.

To address these problems, a synthetic aperture algorithm framework for sidescan sonar with array upsampling beamforming is proposed (AUB-SAS). Firstly, the array element spacing is reduced by ...