Synthetic Aperture Sonar (SAS) has become an essential tool in the realm of underwater imaging, paralleling the principles of Synthetic Aperture Radar (SAR). Its ability to produce high-resolution images of the seabed has attracted significant interest, especially in fields such as marine research and offshore operations. The accurate reconstruction of images captured by SAS is critically dependent on the precise control of the sonar platform\\\'s movements, which are influenced by various factors, including surge, sway, and heave. This research investigates the complex motion errors associated with these translational movements during INSAS imaging. We analyse how surge, sway, and heave affect the formation and quality of synthetic aperture sonar images, revealing potential artifacts and reductions in image clarity. Furthermore, we evaluate the effectiveness of various motion compensation techniques designed to address these errors. By measuring the impact of each type of motion error, this study provides a foundation for refining motion compensation algorithms, ultimately improving the quality of seabed imagery generated by SAS. The insights gained from this research are vital for advancing underwater imaging technologies and hold promise for diverse applications, including marine biology, underwater archaeology and defence operations. Addressing the challenges posed by motion errors is crucial for enhancing imaging processes and broadening the practical uses of SAS in intricate underwater settings.

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