This is a comprehensive textbook and reference that provides a solid background in active sensing technology.

Beginning with a historical overview and an introductory section on signal generation, filtering and modulation, it follows with a section on radiometry (infrared and microwave) as a background to the active sensing process. The core of the book is concerned with active sensing, starting with the basics of time-of-flight sensors (operational principles, components), and goes through the derivation of the radar range equation, and the detection of echo signals, both fundamental to the understanding of radar, sonar and lidar imaging. Several chapters cover signal propagation of both electromagnetic and acoustic energy, target characteristics, stealth and clutter. The remainder of the book involves the basics of the range measurement process, active imaging with an emphasis on noise and linear frequency modulation techniques, Doppler processing,and target tracking.'

KEY FEATURES
· Extensive use of worked examples based on sensors that the author has developed or worked on during the past 28 years.
· Examples are featured that illustrate the process of designing a sensor for a particular application, ranging from such diverse topics as the design of a ship-borne fire control radar to a UAV based lidar scanner to detect locust swarms.
· For a broader appeal, complicated mathematical derivations are avoided unless absolutely necessary, and electronic details of the sensors are limited to block diagram and algorithm level.
· There are 572 figures of which about 20% are photographs, the remainder drawings with 25 tables.

1 Introduction to Sensing
1.1 Introduction
1.2 A Brief History of Sensing
1.3 Passive Infrared Sensing
1.4 Sensor Systems
1.5 Frequency Band Allocations for the Electromagnetic Spectrum
1.6 Frequency Band Allocations for the Acoustic Spectrum
1.7 References

2 Signal Processing and Modulation
2.1 The Nature of Electronic Signals
2.2 Noise
2.3 Signals
2.4 Signals and Noise in the Frequency Domain
2.5 Sampled Signals
2.6 Filtering
2.7 Analog Modulation and Demodulation
2.8 Frequency Modulation (FM)
2.9 Linear Frequency Modulation
2.10 Pulse Coded Modulation Techniques
2.11 Convolution
2.12 References

3 IR Radiometers & Image Intensifiers
3.1 Introduction
3.2 Thermal Emission
3.3 Emissivity and Reflectivity
3.4 Detecting Thermal Radiation
3.5 Heating
3.6 Performance Criteria for Detectors
3.7 Noise Processes and Effects
3.8 Applications
3.9 Introduction to Thermal Imaging Systems
3.10 Performance Measures for Infrared Imagers
3.11 Target Detection and Recognition
3.12 Thermal Imaging Applications
3.13 Image Intensifiers
3.14 References

4 Millimeter Wave Radiometers
4.1 Antenna Power Temperature Correspondence
4.2 Brightness Temperature
4.3 Apparent Temperature
4.4 Atmospheric Effects
4.5 Terrain Brightness
4.6 Worked Example: Space-based Radiometer
4.7 Antenna Considerations
4.8 Receiver Considerations
4.9 The System Noise Temperature
4.10 Radiometer Temperature Sensitivity
4.11 Radiometer Implementation
4.12 Intermediate Frequency and Video Gain Requirements
4.13 Worked Example: Anti Tank Submunition Sensor Design
4.14 Radiometric Imaging
4.15 Applications
4.16 References

5 Active Ranging Sensors
5.1 Overview
5.2 Triangulation
5.3 Pulsed Time-of-Flight Operation
5.4 Pulsed Range Measurement
5.5 Other Methods to Measure Range
5.6 The Radar Range Equation
5.7 The Acoustic Range Equation
5.8 TOF Measurement Considerations
5.9 Range Measurement Radar for a Cruise
5.10 References

6 Active Imaging Sensors
6.1 Imaging Techniques
6.2 Range-Gate limited 2D Image Construction
6.3 Beamwidth Limited 3D Image Construction
6.4 The Lidar Range Equation
6.5 Lidar System Performance
6.6 Digital Terrain Models
6.7 Airborne Lidar Hydrography
6.8 3D Imaging
6.9 Acoustic Imaging
6.10 Worked Example: Lidar Locust Tracker
6.11 References

7 Signal Propagation
7.1 The Sensing Environment
7.2 Attenuation of Electromagnetic Waves
7.3 Refraction of Electromagnetic Waves
7.4 Acoustics and Vibration
7.5 Attenuation of Sound in Water
7.6 Reflection and Refraction of Sound
7.7 Multipath Effects
7.8 References

8 Target and Clutter Characteristics
8.1 Introduction
8.2 Target Cross-Section
8.3 Radar Cross-sections (RCS)
8.4 RCS of Simple Shapes
8.5 Radar Cross-section of Complex Targets
8.6 Effect of Target Material
8.7 RCS of Living Creatures
8.8 Fluctuations in Radar Cross-section
8.9 Radar Stealth
8.10 Target Cross-section in the Infrared
8.11 Acoustic Target Cross-section
8.12 Clutter
8.13 Calculating Surface Clutter Backscatter
8.14 Calculating Volume Backscatter
8.15 Sonar Clutter and Reverberation
8.16 Worked Example: Orepass Radar Development
8.17 References

9 Detection of Signals in Noise
9.1 Receiver Noise
9.2 Effects of Signal-to-noise Ratio
9.3 The Matched Filter
9.4 Coherent Detection
9.5 Integration of Pulse Trains
9.6 Detection of Fluctuating Signals
9.7 Detecting Targets in Clutter
9.8 Constant False Alarm Rate (CFAR) Processors
9.9 Target Detection Analysis
9.10 Noise Jamming
9.11 References

10 Doppler Measurement
10.1 The Doppler Shift
10.2 Doppler Geometry
10.3 Doppler Shift Extraction
10.4 Pulsed Doppler
10.5 Doppler Sensors
10.6 Doppler Target Generator
10.7 Case Study: Estimating the Speed of Radio Controlled Aircraft
10.8 References

11 High Range-Resolution Techniques
11.1 Classical Modulation Techniques
11.2 Amplitude Modulation
11.3 Frequency & Phase Modulation
11.4 Phase-Coded Pulse Compression
11.5 SAW Based Pulse Compression
11.6 Step Frequency
11.7 Frequency-modulated continuous-wave Radar
11.8 Stretch
11.9 Interrupted FMCW
11.10 Sidelobes and Weighting for Linear FM Systems
11.11 High Resolution Radar Systems
11.12 Worked Example: Brimstone Antitank Missile
11.13 References

12 High Angular-Resolution Techniques
12.1 Introduction
12.2 Phased Arrays
12.3 The Radiation Pattern
12.4 Beam Steering
12.5 Array Characteristics
12.6 Applications
12.7 Sidescan Sonar
12.8 Worked Example: Performance of the ICT-5202 Transducer
12.9 Doppler Beam-Sharpening
12.10 Operational Principles of Synthetic Aperture
12.11 Range and Cross-range Resolution
12.12 Worked Example: Synthetic Aperture Sonar
12.13 Radar Image Quality Issues
12.14 SAR on Unmanned Aerial Vehicles
12.15 Airborne SAR Capability
12.16 Space-based SAR
12.17 Magellan Mission to Venus
12.18 References

13 Range and Angle Estimation and Tracking
13.1 Introduction
13.2 Range Estimation and Tracking
13.3 Principles of a Split-Gate Tracker
13.4 Range Tracking Loop Implementation
13.5 Ultrasonic Range Tracker Example
13.6 Tracking Noise after Filtering
13.7 Tracking Lag for an Accelerating Target
13.8 Worked Example: Range Tracker Bandwidth Optimization
13.9 Range Tracking Systems
13.10 Seduction Jamming
13.11 Angle Measurement
13.12 Angle Tracking Principles
13.13 Lobe Switching (Sequential Lobing)
13.14 Conical Scan
13.15 Infrared Target Trackers
13.16 Amplitude Comparison Monopulse
13.17 Comparison between Conscan and Monopulse
13.18 Angle Tracking Loops
13.19 Angle Estimation and Tracking Applications
13.20 Worked Example: Combined Acoustic and Infrared Tracker
13.21 Angle Track Jamming
13.22.1 Loran-C
13.23 References

14 Tracking Moving Targets
14.1 Track While Scan
14.2 The Coherent Pulsed Tracking Radar
14.3 Limitations to MTI Performance
14.4 Range-Gated Pulsed Doppler Tracking
14.5 Co-ordinate Frames

Graham Brooker is a Senior Lecturer at the Australian Centre for Field Robotics, University of Sydney. He has been involved in research and development in the radar field for over 20 years, as well as extensive research in biomedical engineering. He is the author of over 30 papers and conference proceedings and his research has often focused on millimeter wave radar systems.