Underwater examinations such as explorations of wrecks are nowadays supported by AUVs that move without human assistance, taking photos and recording further measurement data. Close to the sea ground, visibility can be limited to just one meter, so camera images cannot be used for reliable obstacle avoidance. But even sonar measurement data is highly impacted by particles in the water, making it impossible to use the raw data directly. During the Ocean Re-Creation Challenge 2022, a proof-of-concept was created to enhance the sonar data using digital signal processing approaches, reducing artifacts and noise as well as increasing angular resolution. The enhanced data can be used for object detection and obstacle avoidance. The technology can easily be applied to any sonar system, improving angular resolution and reducing clutter. The application of this technology will lead to more light-weight and cheaper AUVs, which enables scientists to learn more about the oceans and sea life.