The invention discloses a
time domain point-by-point imaging method,
system and device for receiving and transmitting
synthetic aperture sonar, and the method comprises the steps: calculating the synthetic aperture length and synthetic aperture time for any pixel in an imaging region; calculating the distance between the
sonar and the pixel at the moment of transmitting the
signal, and calculating the distance between the
sonar and the pixel at the moment of receiving the
signal to obtain an accurate two-way
slant range process; calculating a reference
echo signal corresponding to the pixel according to a two-way
slant range process and related parameters of the
signal; carrying out range-to-
frequency domain conversion on the actually measured
echo signal, carrying out range-to-
frequency domain conversion on the reference
echo signal, and carrying out conjugate multiplication
processing on a conversion result; coherent accumulation is carried out on all conjugate multiplication results, and the result is used as an imaging result of the pixel; and for other pixels in the imaging area, repeatedly executing the steps to obtain imaging results of all pixels in the whole imaging area.