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Synthetic aperture sonar (SAS) and interferometric synthetic aperture sonar (InSAS) have a range layover phenomenon during underwater observation, the AUV-mounted circular synthetic aperture sonar (CSAS) system, that insonifies targets using multiple circular scans that vary in height and can eliminate the layover phenomenon. However, this observation method is time-consuming and difficult to compensate. To solve this problem, the circular array synthetic aperture sonar (CASAS) based on the equivalent phase center was established for un
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