Performance of Hybrid Wideband Doppler Sonars

We expose in this paper an explanation of the Cramér-Rao lower bound calculation for Doppler velocity estimation using a recently proposed hybrid method. We provide extensive simulation results using a model for the backscattered ultrasonic signal from a set of moving particles. It will be shown that the proposed theoretical model fits the simulation variances for larger signal-to-noise ratio ranges and using two different pulse compression techniques. A formula is also provided for expressing the expected minimum standard deviation on velocity estimation with respect to the various Doppler sonar parameters.