Simulations and Experiments with a 1D Interferometric Doppler Velocity Sonar

The Interferometric DVL (InDVL) is a new instrument designed to be free from acoustic bias. The InDVL combines pulse-to-pulse phase comparison, used by all wideband Doppler sonars, with element-to-element phase comparison generally used for direction finding. The most general InDVL receiver array design consists of a 3D ultrashort baseline, with four hydrophones in a tetrahedral configuration allowing the synthesis of three orthogonal baselines. In this paper we study the performance of a much simpler system consisting of a single baseline and present both Monte Carlo simulations and preliminary experimental results using a COTS sonar of opportunity, which is a dual Mills cross scientific echo sounder used for fishery research and obstacle avoidance.