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sonar-system

active and passive sonar processing: acoustic propagation models, towed-array beamforming and shape estimation, LOFAR/DEMON classification, target motion analysis

Thales 2087, Lockheed AN/SQQ-89, Kongsberg

SystemTechniques · 12Primitives · 46 sonar-system Target motion analysiscontrol · medium: Bearings-only estimation of target range, course and speed with manoeuvring observerClock synchronizationdistributed · medium: Estimate a clock's offset from four timestamps, filter out queueing noise, and steer the clock smoothly; NTP gets about a millisecond, PTP with hardware timestamps under a microsecond.›Assignment problem (Hungarian / Jon…graphs · medium: Optimal one-to-one matching of rows to columns in O(n³) by growing a matching along shortest augmenting paths over dual potentials.›Multi-object trackingmachine-learning · medium: Turn per-frame detections (camera boxes or radar plots) into persistent IDs by predicting each track, gating, assigning and managing track births and deaths.›Levenberg marquardtnumerics · medium: Damped Gauss-Newton nonlinear least squares for model calibrationAcoustic propagation modelsphysics · medium: Predict sound transmission loss by ray tracing, normal modes or parabolic equation over a sound-speed profileInteracting multiple model filterrobotics · medium: IMM filter mixing several motion models for maneuvering targetsKalman filterrobotics · low: Optimal recursive estimator for a linear system with Gaussian noise: fuses a motion model with noisy measurements into a state estimate plus its covariance.›Extended Kalman filterrobotics · low: Kalman filter for nonlinear motion and measurement models: linearize f and h with Jacobians at the current estimate each step. The default estimator in robot navigation.›Convolutional networksml-training · low: Layers that slide a small shared kernel over a grid, giving translation equivariance and few parameters; still the most compute-efficient choice for many vision tasks.›Spline interpolationnumerics · low: Linear, bilinear/trilinear and cubic spline interpolation on grids and tablesArray shape estimationcontrol · low: Estimate sensor array shape from heading sensors and signal-derived cues to correct beamformingFast Fourier transformnumerics · low: Computes the DFT in O(n log n) by recursively splitting into even and odd halves; the basis of fast convolution and spectral methods.›Beamformingsignal-processing · low: Phased-array weights that steer radio energy toward a receiver; per-client steering vectorsCfar detectionsignal-processing · low: Constant false alarm rate detector: set the threshold from a noise estimate of neighbouring cells (CA, OS, GO/SO-CFAR)Envelope modulation spectrum analys…signal-processing · low: Narrowband spectral analysis plus demodulated envelope spectrum (DEMON) to find periodic modulation linesIIR and FIR filterssignal-processing · low: Two ways to shape a sampled signal's spectrum: FIR (finite taps, always stable, exact linear phase) or IIR (feedback, a few coefficients, cheap but phase-distorting).›Matched filter template banksignal-processing · low: Correlate data against waveform templates with SNR thresholds; template bank covers parameter space, also pulse compressionShort-time Fourier transform and sp…signal-processing · low: Slide a window over a signal and FFT each frame to get a time-frequency picture; the front end of audio ML, vibration and radar analysis.›PID controllerrobotics · low: Drive a measured value to a setpoint with three terms on the error: proportional, integral, derivative. The default feedback loop for motors, heaters, drones and gimbals.›Phase-locked loop (digital)signal-processing · low: Feedback loop that locks a local oscillator to the phase and frequency of an input tone; the core of carrier recovery, clock recovery and GNSS tracking.›Robust statisticsstatistics · low: Location and scale estimates (median, MAD, trimmed mean, Huber M-estimator) that stay correct when a minority of the data is garbage.›d-ary heapdata-structures · low: Array heap with d children per node (d = 4 typical): half the binary heap's depth, siblings in one cache line, faster priority queues.›+ 5 more techniques+ 30 more primitives

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