A sonar data processing system of underwater robot based on C6000 DSP

As one of the most important sensors of autonomous underwater vehicle, sonar is used to acquire underwater environmental information. Processing the sonar data with a proper method can generate important features of underwater environment, of which the characteristics are large amount of data, highly requiring real-time and complex computation. Using C6000 DSP to implement sonar data processing is a feasible solution. Thus this paper presents a sonar data processing system of underwater robot which takes charge of acquiring and preprocessing sonar data to get significant environmental features for the robot navigation algorithm to use.