Fig. 1. Geometry between underwater vehicle and single receiver.
Fig. 2. Variation of doppler frequency at 100 Hz.
Fig. 3. Flow of the proposed method.
Fig. 4. Comparison of waveforms at receiver arrays and virtual synthetic receiver arrays, (a) before compensation, (b) after compensation.
Fig. 5. Beamformer output power, (a) 100 Hz, (b) 200 Hz, (c) 300 Hz.
Fig. 6. Comparison of beamforming output power at the highest power point.
Fig. 7. Spectrum according to the source position error, (a) no error, (b) source (5,5) m/receiver (-5,-5) m, (c) source (5,-5) m/receiver (-5,5) m, (d) source (-5,5) m/receiver (5,-5) m.
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