Normalized Clutter Reduced Sonar Data
The sonar data after the first step of processing shows a marked improvement
over its raw form. A statistical method removes any fluctuating DC offset and
determines the front end's noise floor and peak values. The sonar ping and the
transponder ring have been removed. There still remains a fair amount of high
frequency noise and surface clutter. This clutter, though valid return data, is
normally removed from the near returns for clarity.