Attitude-Trajectory Estimation for Forward-Looking Multibeam Sonar Based on Acoustic Image Registration

This work considers the processing of acoustic data from a multibeam forward-looking sonar (FLS) on a moving underwater platform to estimate the platform's attitude and trajectory. We propose an algorithm to produce an estimate of the attitude trajectory for an FLS based on the optical flow between consecutive sonar frames. The attitude trajectory can be used to locate an underwater platform, such as an autonomous underwater vehicle, to a degree...