Forming maps of targets having multiple reflectors with a biomimetic audible sonar

A biomimetic audible sonar mimics human echolocation by emitting clicks and sensing echoes binaurally to investigate the limitations in acoustic mapping of 2.5 dimensional targets. A monaural sonar that provides only echo time-of-flight values produces biased maps that lie outside the target surfaces. Reflector bearing estimates derived from the first echoes detected by a binaural sonar are employed to form unbiased maps. Multiple echoes from a target introduce phantom-reflector artifacts into its map because later echoes are produced by reflectors at bearings different from those determined from the first echoes. In addition, overlapping echoes interfere to produce bearing errors. Addressing the causes of these bearing errors motivates a processing approach that employs template matching to extract valid echoes. Interfering echoes can mimic a valid echo and also form PR artifacts. These artifacts are eliminated by recognizing the bearing fluctuations that characterize echo interference. Removing PR artifacts produces a map that resembles the physical target shape to within the resolution capabilities of the sonar. The remaining differences between the target shape and the final map are void artifacts caused by invalid or missing echoes.