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Snellen, M. (author), Siemes, K. (author), Simons, D.G. (author)Nowadays extensive use is made of multibeam echosounders (MBES) for mapping the bathymetry of sea- and river-floors. The MBES is capable of covering large areas in limited time by emitting an acoustic pulse along a wide swathe perpendicular to the sailing direction. The angle and the corresponding two-way travel-time of the received signals are...conference paper 2009