Modelling acoustic propagation in the time domain

Time domain propagation calculations can handle continuous or pulsed broadband signals including multipaths, Doppler and temporal fluctuations in a surprisingly straightforward manner. All features are important for sonar stimulators and simulation. The approach here is still valid in shallow water or at low frequencies and is compatible with real time operation, including multiple moving sources and hydrophones and two-way paths. A comparison is made with the standard frequency domain model SAFARI.