压缩包里面是四个Python写的NAO机器人工程，分别实现了录音并且回放，做一串动作、绕口令、和声呐避障四个功能，代码清晰，但愿对大家有用

比较经典的声呐信号处理书籍，第一部分在介绍水声信道、目标、干扰背景场特性的基础上，较全面地讨论了现代声呐信号处理原理，内容涉及信号检测、参数估计、目标判决、后置数据处理、识别等各个方面。第二部分主要讨论声呐信号处理设备的实现方法。

本书详细讲解了多波束测深的原理、侧扫声呐在海底地形绘制、水下目标识别的应用、可以供水声等相关专业科研人员参考

介绍了比较新的声呐图像处理技术，在水下目标识别中有广泛应用，可以供水声工作者参考

基于扩展Kalman滤波的双基地声呐目标轨迹跟踪

侧扫声呐FCN图像分割。。其中包括与C-mean的对比。与改进后的G-FCN,BEMD-FCN代码。并附20张声呐原始图像

Seafloor surveying with acoustic remote sensing has become a powerful tool for researchers and professionals seeking knowledge about the structure and behavior of the seafloor. In particular, sidescan sonar is proving to be the preeminent technique, but its data is often difficult to interpret due to the physics of acoustic remote sensing, and to the varied geological processes at play. This handbook not only presents all the fundamentals but also explains how to interpret sidescan sonar imagery and bathymetry. It fully explores the most recent advances, both in the technology and in the knowledge of marine structures, and provides deep insights for interpretation and decision-making. Broadly expanded and updated from the previous 1997 "Handbook of Seafloor Sonar Imagery," this handbook is indispensable to oceanographers, resource exploiters, telecommunications engineers, and marine researchers of all kinds.