*2.2. Recognition of Sonar Data Sequences Using 1D-CNN*

When the sound hits the seabed, the local backscatter strength sequence shows a special variation feature, as illustrated in Figure 1. The proposed method uses the suitable 1D CNN model to recognize the bottom samples for bottom tracking. In this section, the positive and negative samples were first extracted to establish the sample sets. The sample sets were normalized and a 1D-CNN model was carefully designed and trained by using the sample sets.
