Mixed doppler compensation for near-field focused beamforming of forward looking sonar

When the forward looking sonar (FLS) is working at close quarters, both the near-field focused beamforming and the compensation of doppler effect caused by the moving platform will bring heavy computing load, and make it difficult for real-time processing. Aiming at this question, mixed doppler compensation (MDC) is brought forward, it combines full doppler compensation (FDC), which is accurate and half doppler compensation (HDC), which is relatively inaccurate but fast. HDC offers a balance between accuracy and speed. The effectiveness of this algorithm is testified through a simulating experiment.