#$%^&*AU2016227509B220180524.pdf#####ABSTRACT Provided are method, system, and computer program product for imaging an underwater environment. The method may include receiving sonar returns and converting the sound energy of the sonar returns into sonar return data, and generating first beam data associated with a first beam having at least one first main lobe oriented in a first direction. Generating the first beam data may include: forming the sonar return data in the first direction; applying a first predetermined window to the sonar return data to define a first weighted return data; applying a second predetermined window to the sonar return data to define a second weighted return data; comparing a first power of the first weighted return data to a second power of the second weighted return data; and defining, when the first power is less than the second power, the first beam data based upon the first weighted return data. 746/25 50 -120 100, 130 TRANSMIT TRANSDUCER TRANSDUCER ARRAY 18 424 TRANSCEIER24-2 267 STORAGE SONAR SIGNAL 2 MODULE PROCESSOR COMMUNICATIONS 28 MODULE 30 DSAUYSER 32 INTERFACE F IG 4
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