In the aspect of detection and high precision estimation of seafloor backscattering , algorithms of fast convergence of energy center and correlation of eigen - replica were developed . also studded were processing methods of weighted mean time ( wmt ) and bearing direction indicator ( bdi ) based on fft beam forming as well as high precision detection and estimation of time of arrival ( toa ) and direction of arrival ( doa ) using split beams phase difference detection technique 圍繞海底反向散射信號的高精度檢測和估計技術(shù),開發(fā)了快速能量中心收斂算法和特征模型相關(guān)算法,研究了基于fft波束形成的加權(quán)時間平均與方位指示處理方法,并討論了利用分離波束相位差檢測技術(shù)的海底反向散射信號到達時間( toa )和到達方向( doa )的高精度檢測與估計方法。