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A geometry-centric framework is proposed to optimize hydrophone array configurations for robust SAS imaging under 6-DoF motion.
A normalized Phase Sensitivity Index (PSI) is introduced, with translational and rotational components, to quantify array-dependent motion sensitivity.
PSI is calibrated against BP-based PSLR and ISLR, linking phase-error sensitivity directly to interpretable image-quality degradation.
Across 54 scenarios, the 3D hemispherical array consistently outperforms cubic and planar arrays, achieving the best corrected sidelobe performance.
First-order sensitivity analysis shows that mutual coupling, tolerances, and multipath mainly shift absolute metrics but do not change the hemispherical array’s overall superiority.
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