Multiple sub-array beamspace CAATI algorithm for multi-beam bathymetry system

This paper extends CAATI (Computed Angle-of-Arrival Transient Imaging) technique of Multi-angle Swath Bathymetry Sidescan Sonar (MSBSS) into Multi-Beam Bathymetry Sonar (MBBS) and presents a new Multiple Sub-array Beamspace - CAATI (MSB-CAATI) algorithm. The method not only can achieve high resolution seafloor mapping in the whole wide swath, but also can work well in complex acoustic environments or geometries. Simulation results and processing results of sea-experiment data prove the validity and superiority of the algorithm.