I. Introduction (Heading 1)
Synthetic aperture sonar (SAS) is an remote sensing technology that has a centimeter resolution over hundreds-over-meter range on the seafloor [1]. Although the provenance of SAS comes from synthetic aperture radar (SAR), the slow speed of sound in water cause them to be two difference [2], [3]. The one key difference is that the move distance during transmission and reception should be taken into account in SAS, referred to as the non-stop-hop-stop mode [4]. The other key difference is that SAS should be configured an array of receivers for a useful mapping rate requires, referred to as the multiple-receiver SAS.