Belov B.P., Simenov N.N., Mironov I.V.
Hydroacoustic data processing is being performed in time or spectral domain, the spectral domain processing is wider spread. In any case, antenna devices beamforming and input signals processing algorithms modeling must be performed. There are two possible approaches to the algorithms working out. The first is to process the signals on the outputs of the antenna channels and then calculate and simulate signals and noise on the antenna channels outputs in accordance with the calculated beam pattern of the channels and given source distribution and signals and noise parameters. The second is to generate signals and noise in the array elements, obtaining processes with the properties given on the item level on the channel outputs, and the total signal processing in time domain. The formulas of signals and noise for mobile underwater robot antenna are cited.