Multi-modal sensor fusion towards three-dimensional airborne sonar imaging in hydrodynamic conditions

Hydrodynamic conditions

In hydrodynamic conditions, the air–water interface is non-planar as a result of the water’s surface waves; this is in contrast to hydrostatic conditions where the water volume is in a steady state and has a planar surface. An important note for imaging in hydrodynamic conditions is that we can invoke a quasi-static assumption: since the speed-of-sound is significantly greater than the propagation speed of the water’s surface waves, the propagation of the surface waves during the data capture can be neglected in most cases (see the “Discussion” section)….