—Similar to the geometry we have in SAR, Interferometric Synthetic Aperture Sonar (INSAS) has gained significant attention in underwater imaging applications due to its ability to provide high-resolution seabed imagery. However, the accurate reconstruction of these images relies heavily on the precise control of the sonar platform\\\'s motion. In real-world scenarios, the platform\\\'s motion is subject to various factors, including motion in Six Degrees of Freedom. Understanding and quantifying the impact of these rotational motions on image quality is crucial for improving the imaging process. This research focuses on the comprehensive analysis of motion errors introduced by roll, pitch, and yaw rotations in INSAS imaging. We investigate how these rotations affect the formation of synthetic aperture sonar images, highlighting potential artifacts and degradation in image quality. Furthermore, we compare and contrast the performance of motion compensation techniques in mitigating these errors. By quantifying the impact of each type of motion error, we offer a basis for optimizing motion compensation algorithms and enhancing the overall quality of INSAS-generated seabed imagery. This research contributes to the advancement of underwater imaging technologies, with potential applications in marine research and offshore industries

Keywords