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Imaging sonar produces clear images in underwater environments, independentof water turbidity and lighting conditions. The next generation 2D forwardlooking sonars are compact in size and able to generate high-resolution imageswhich facilitate underwater robotics research. Considering the difficulties andexpenses of implementing experiments in underwater environments, tremendouswork has been focused on sonar image simulation. However, sonar artifacts likemulti-path reflection were not sufficiently discussed, which cannot be ignoredin water tank environments. In this paper, we focus on the influence of echoesfrom the flat ground. We propose a method to simulate the ground echo effectphysically in acoustic images. We model the multi-bounce situations using thesingle-bounce framework for computation efficiency. We compare the real imagecaptured in the water tank with the synthetic images to validate the proposedmethods.

2D Forward Looking Sonar Simulation with Ground Echo Modeling