The binaural technique used in ultrasonic sonars has a higher performance speed in comparison with a mechanically scanned ultrasonic beam, however, in presence of multiple targets meets a very serious ambiguity problem. In this case the number of targets detected exceeds the actual number of targets, e.g., there are additional non-existing targets found. Objective of this research was development of a simulation tool enabling to model multi-channel sonar in the environment with multiple targets of arbitrary geometry and development of robust signal processing procedures, suitable for detection of multiple targets from the data collected using the binaural method. The developed software enables to simulate operation of multi-channel sonar in an environment with multiple reflectors and predict a time history of the reflected signals. The novel algorithm for separation of real targets from the virtual ones in presence of multiple targets has been developed. Performance of the proposed algorithm was investigated both in the simulated and a real environment. The results obtained indicate a significant improvement of the sonar performance. © 2002 Elsevier Science B.V. All rights reserved.
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