384 results about "Sonar system" patented technology

A 3-dimensional sonar system having a fixed frame of reference including a transmitter and receiver array. The system may include a single ping processor for processing received echoes from a single transmission including methods to match filter sonar sensor data, to optionally compensate for self Doppler, beamform sonar sensor data, to extract bottom targets from beamformed data and to extract in-water targets from the beamformed data. The system may also include a multi ping processor to operate on the outputs of multiple pings from the single ping processor including methods to detect tracks from in-water targets.

A vessel-mountable integrated sonar system is provided. The vessel-mountable integrated sonar system comprises at least one imaging sonar data acquisition device and at least one processing system electronically and removably connected to the at least one imaging sonar data acquisition device, wherein the sonar data acquisition device preferably provides acoustic data to the processing system, producing sonar imageries utilizing the acoustic data, and wherein the system provides digital tilt and azimuth direction feedback for accurate geo-referencing of data to localize targets of interest.

The present invention relates to sonar beamforming systems and methods, using a forward-looking sonar having transmit and receive transducer arrays with a beamforming device and at least one side-looking sonar having dynamically range-focused beams. The forward-looking sonar provides for obstacle avoidance and undersea survey. The systems include one-dimensional transmit and receive transducer arrays with beamforming electronics, a computing controller such as, for example, a personal computer host controller. The arrays and beamforming electronics can be packaged in a hermetically sealed housing unit and mounted in Unmanned Underwater Vehicles (UUV). The side-looking sonar system includes for example, 32-element, one-dimensional arrays that are mounted on either side of the UUVs. Further, a downward looking Bathymetric sonar may be mounted on the underside of the vehicle for high-resolution mapping.

Apparatuses, methods, and computer-readable medium for navigation safety and collision prevention are described herein. The apparatus may cause the collection of marine electronic data from marine data sources. Marine data sources may include a radar system, a sonar system, a position system, a tracking system, and / or a chart system. The apparatus may further determine, based upon the marine electronic data, the presence of a hazard in the projected path of the watercraft. The apparatus may determine if the hazard is within a threshold distance and, in response, may cause the watercraft to stop before reaching the hazard. In some instances, the apparatus may transmit a warning alert to the watercraft operator, and after a predetermined period of time without response by the operator, the apparatus may cause the watercraft to stop to prevent collision with the hazard.

A high resolution bathymetric sidescan sonar system for measuring micro-geomorphy of the sea bottom having an underwater vehicle, an underwater electronic subsystem mounted on the underwater vehicle and containing a transmitter and a receiver, and two sonar arrays mounted symmetrically on two sides of a lower part of the underwater vehicle and being connected to the underwater electronic subsystem through a cable. Each sonar array has a transmitting linear array and three or more parallel receiving linear arrays. The parallel receiving linear arrays are arranged at equal spaces, and the space d between two adjacent parallel receiving linear arrays is λ>d≧λ / 2, in which λ is a wavelength of an acoustic wave, and an operation frequency of the parallel receiving linear arrays ranges from 30 kHz to 1200 kHz.

A processing technique and transducer field of view architecture for use as part of an imaging sonar system to develop three-dimensional images of the space below, to the sides, and forward of a ship.

Provided are a sonar system, transducer assembly, and method for imaging an underwater environment. The sonar system may include a housing having a transducer array defining first and second rows of transducer elements positioned at a predetermined distance. The first row of transducer elements may include at least first and second transducer elements configured to convert sound energy into first and second sonar return data. The second row of transducer elements may include at least third and fourth transducer elements configured to convert sound energy into third and fourth sonar return data. A sonar signal processor may be configured to process the first and second sonar return data and third and fourth sonar return data to generate respective first and second array sonar return data corresponding to a plurality of first and second receive beams and generate 3D sonar return data by correlating the angles associated with the receive beams.

A low cost, all weather, high definition imaging system for an autonomous vehicle is described. The imaging system generates true target object data suitable for imaging, scene understanding, and all weather navigation of the autonomous vehicle. Data from multiple arrays is fed to a processor that performs data association to form true target detections and target positions. A Boolean associator uses an association method for determining true target detections and target positions to reduce many of the ghosts or incorrect detections that can produce image artifacts. The imaging system provides near optimal imaging in any dense scene for autonomous vehicle navigation, including during visually obscured weather conditions such as fog. The system and method can be applied to variety of imaging technologies, including an RF system, a Lidar system, a sonar system, an ultrasound system, and / or an optical system.

The invention discloses a combined navigation method of an integrated sonar micro navigation autonomous underwater robot, mainly comprising the following steps of: (1) acquiring initial absolute position information of the autonomous underwater robot by using a global positioning system, acquiring speed information and posture information of the autonomous underwater robot by using a sensor and estimating the speed information and / or posture information of the autonomous underwater robot by using a sonar system; and (2) fusing the speed information and the posture information which are acquired by the sensor and the speed information and / or posture information estimated by the sonar system by using a data fuse method and acquiring absolute position information and posture information of the autonomous underwater robot by combing the initial absolute position information of the autonomous underwater robot. The invention has the advantages that the absolute position of an AUV (Autonomous Underwater Vehicle) can be estimated and the navigation precision of the AUV can be improved by fusing the speed and / or posture information estimated by AUV-boarded sonar and the speed and posture information acquired by the sensor.

An autonomous sonar system and method provide an arrangement capable of beamforming in three dimensions, detecting loud targets, adaptively beamforming in three dimensions to avoid the loud targets, detecting quiet targets, localizing the loud or quiet targets in range, bearing, and depth, detecting modulation of noise associated with propellers of the loud or quiet targets, generating three dimensional tracks of the loud or quiet targets in bearing, range and depth, making classification of the loud or quiet targets, assigning probabilities to the classifications, and generating classification reports according to the classifications for communication to a receiving station, all without human assistance.

A fish locating system combines the functionality of a remote controlled miniature electric boat with an underwater sonar system. The watercraft is provided with a sonar transponder attached to an exterior deck. The sonar transponder wirelessly transmits sonar readings including bottom depth and terrain, schools of fish, underwater obstructions, water temperature, and the like, to the watercraft's wireless remote controller's display screen. The remote controller comprises a display screen that visually depicts the sonar scan in real-time. In use, a person can be on shore or on an anchored boat while performing underwater reconnaissance.

An abdominal sonar includes an ultrasound transducer array with a plurality of ultrasound transducers. The abdominal sonar further includes at least one additional ultrasound transducer. A digital signal processor is communicatively connected to the plurality of ultrasound transducers and the at least one additional ultrasound transducer. The digital signal processor individually operates the plurality of ultrasound transducers and the at least one additional ultrasound transducer. The digital signal processor receives reflected ultrasound signals back from each of the plurality of ultrasound transducers and the at least one additional ultrasound transducer and converts the received reflected ultrasound signals into an audio signal. A system for monitoring a pregnancy includes an ultrasound transducer array and at least one additional ultrasound transducer. A digital signal processor is communicatively connected to the ultrasound transducer array and the at least one ultrasound transducer. The digital signal processor converts received raw fetal heart and uterine activity waveforms into an audio signal. A wireless transmitter broadcasts the received audio signal. A wireless receiver receives the broadcast audio signal. A patient monitor extracts the raw fetal heart and uterine activity waveforms from the audio signal and processes the waveforms to obtain an indication of fetal heart rate and an indication of uterine activity.

The present invention generally relates to a fish finding sonar system. Specifically, this invention relates to a sonar device pairing with a remote computing device to provide information to an angler about what is under the surface of the water. Embodiments of the present invention include a sonar device and a remote computing device configured to allow the sonar device to wirelessly communicate with the remote computing device and the remote computing device to connect to a database to register and receive information about real-time fishing hotspots.

The present invention provides a method and apparatus for capturing an image of a persons head, or other object, positioned in front of a camera and accurately scaling the head based on the distance of the head from the camera. A sonar system is used determine the distance of the object to the camera. The sonar system can include a first sonar device which is operated to measure the distance of the object to a predetermined point and a second sonar device which is used to measure the distance of the camera to the predetermined point. A calculation of the distance from the object to the camera is based upon the sonar measurements. The image created by the camera can be scaled according to the distance of the object to the camera as determined with the sonar. An image created by the camera can be displayed on a screen of a computer associated with the imaging system. Software on the computer can transpose an image of an eyeglass frame over the image of a face, wherein the image of the face was captured by the camera. Measurements relating to proper sizing of an eyeglass or other corrective lens can be performed on the computer screen. Other observations and image manipulations can also be made including skin tone, facial features, head shape and size, application of cosmetics, proposed surgery, and many other uses.

The invention relates to an underwater sound multi-target autonomous detection and orientation tracking method. According to the method, a two-dimensional cache array is set to store target tracks and is used for predicating the orientation of the next moment of the target and performing data association with detection values, and therefore stable and accurate continuous target orientation information can be obtained by combining data association and an orientation preset tracking algorithm. The method concretely includes the steps of autonomous orientation detection, orientation predication, orientation association, target judgment, and repetition of the steps. The method overcomes the defects of uncertain interruption and outliers, caused by underwater sound environment complexity, of an orientation course, and mutual approaching of orientations of multiple targets even track intersection in the multi-target tracking process without manual intervention. The method can be directly applied to an unattended sonar system like an underwater unmanned aircraft detecting sonar system.

The invention discloses a three-dimensional sonar visualization processing method based on a multi-beam phased array sonar system. The method includes the following steps: collecting sonar data, and sending the sonar data through a network; obtaining the sonar data through the network frame by frame, and converting range images corresponding to all frames of sonar data to point cloud data in a global coordinate system; filtering the point cloud data, connecting the point cloud data obtained through filtering to form triangular patches, and calculating the normal vector and the vertex of each triangular patch; carrying out registration on a current frame and a previous frame, carrying out mosaic processing on the point cloud data of the current frame and the previous frame after the registration, then merging the point cloud data of the current frame and the previous frame after the mosaic by adoption of an ergodic cross point algorithm, and updating a three-dimensional scene image model point set; and generating a three-dimensional scene image according to intensity of merged point cloud data and the normal vectors and the vertexes of the triangular patches. The three-dimensional sonar visualization processing method based on the multi-beam phased array sonar system is high in speed and accuracy.

A system and a method for evacuating personnel from an offshore unit ar e described. The evacuation system comprises at least one submarine evacuation module attached to the offshore unit. A submarine evacuation module comprise s a submarine for transporting personnel to be evacuated and a watertight submarine bay fixed to the offshore unit for holding the submarine, the bay having a door to permit the launch of the submarine from the bay. The evacuation module bay includes a control system for flooding the submarine bay, for operating the door, and f or decoupling a hook mechanism that couples the submarine to the submarine. The evacuation module bay may also include a roller system for cradling the submarine and guiding its movement into and out of the bay, and a sonar system for detecting obstructions near the bay door outside of the bay. The method of evacuating personnel from an offshore unit having a portion adapted to be submerged bel ow the water level comprises having the personnel enter the submarine, flooding the bay, opening the door in the submarine bay and propelling the submarine from the bay to a predetermined location remote from the offshore unit.

A system and corresponding method for the concurrent operation of multiple radar systems on a common frequency and in the same geographical area includes a waveform generator that specifies certain operating parameters for the transmitted radar pulses. In a first instance, the carrier frequency can include an offset for each radar system. In a second instance, complementary codes can be used for the radar pulses such that each radar system operates with a unique code for substantially reducing the cross-talk between the radar systems. In another instance, both carrier frequency offset and complementary coded waveforms can be used to increase the number of radar systems that operate concurrently. Carrier frequency offset can also be used to combat range-wrap by using different carrier frequencies for adjacent radar pulses.

A multi-stage maximum likelihood target estimator for use with radar and sonar systems is provided. The estimator is a software implemented algorithm having four computational stages. The first stage provides angle smoothing for data endpoints thereby reducing angle errors associated with tie-down times. The second stage performs a coarse grid search to obtain the initial approximate target state to be used as a starting point for stages 3 and 4. The third stage is an endpoint Gauss-Newton type maximum likelihood target estimate which determines target range along two time lines. The final refinement of the target state is obtained by the fourth stage which is a Cartesian coordinate maximum likelihood target estimate. The four-stage processing allows the use of target historic data while reducing processing time and computation power requirement.

A tow body and associated method have an acoustic projector that can be rotated about a vertical plane while the tow body is being towed through the water. In some embodiments, the tow body and method allow the tow body to be coupled to a tow cable while the tow cable is being towed through the water and under tension.

Sonar systems and associated methods are provided herein for sonar image generation. The sonar system is configured to enable rotation of a transducer array that includes at least two transducer elements. The transducer array may be mounted to a trolling motor capable of being rotated. The transducer elements can be positioned to enable use of interferometry to obtain angle information regarding sonar returns. The angle and range of each sonar return can be used to form images, such as a 2D forward looking image of the underwater environment. A heading detector can be used to obtain a heading of the transducer elements to enable creation of a 2D radar-like image of the underwater environment. Additionally, the heading, angle, and range of the sonar returns can be used to form a 3D image of the underwater environment.

A vessel-mountable integrated sonar system is provided. The vessel-mountable integrated sonar system comprises at least one imaging sonar data acquisition device and at least one processing system electronically and removably connected to the at least one imaging sonar data acquisition device, wherein the sonar data acquisition device preferably provides acoustic data to the processing system, producing sonar imageries utilizing the acoustic data, and wherein the system provides digital tilt and azimuth direction feedback for accurate geo-referencing of data to localize targets of interest.

The invention provides a dipping small-object detecting sonar system and a detecting method thereof. The dipping small-object detecting sonar system is composed of an underwater part and an on-water part, wherein connection and dipping between the underwater part and the on-water part are realized through an armored photoelectric composite cable. The underwater part comprises a transmission energy transducer, a double-layer cylindrical receiving array, an underwater signal processor and a serial server. The on-water part is a display console and performs data exchange with the underwater part through a water-surface optical terminal. After related parameters of the underwater signal processor and a transmission control panel are configured through the upper display console, the underwater part is dipped to an appropriate depth. The signal processor processes data which are output from the receiving array; the signal processor performs operations of wave beam formation, target detection, target positioning, etc.; and furthermore the signal processor uploads data of detection result, array gesture, depth, etc. to the upper display console for real-time displaying, thereby realizing 360-degree panoramic detection. The dipping small-object detecting sonar system and the detecting method thereof are used for various operation platforms and have advantages of low cost, small size, small weight, flexible configuration and high detecting performance.

Provided are a sonar system and transducer assembly for producing a 3D image of an underwater environment. The sonar system may include a housing mountable to a watercraft having a transmit transducer that may transmit sonar pulses into the water. The system may include at least one sidescan transducer array in the housing that receives first and second sonar returns with first and second transducer elements and converts the first and second returns into first and second sonar return data. A sonar signal processor may then generate a 3D mesh data using the first and second sonar return data and at least a predetermined distance between the transducer elements. An associated method of using the sonar system is also provided.

A system for determining the directional properties of surface waves or internal waves of a fluid medium includes a sonar system having a plurality of transducers for generating respective, separate acoustic beams and receiving echoes from one or more range cells located substantially within the beams; and a computer program for determining the directional properties associated with the surface waves or internal waves from the received echoes, wherein the computer program determines along-beam velocities along the separate acoustic beams and combines the along-beam velocities to form an equivalent orbital velocity vector. The system is mounted on or in a sub surface buoy that can move or rotate during measurement and includes a motion sensor measuring six degrees of freedom to account for horizontal velocity and vertical displacement in the subsurface buoy mounted sonar system.

The invention provides a correcting method for the deviation of a depth measuring sonar system, which comprises the following steps: 1) acquiring data by a sea calibration test to obtain initial values of various parameters to be calibrated; 2) selecting a parameter to be calibrated and calculating correction quantity of the selected parameter to be calibrated according to current values of various parameters to be calibrated; and 3) judging whether the current correction quantity of the selected parameter to be calibrated is less than a preset threshold value or converged into certain value or not, if the judging result is not, substituting the value of the parameter to be calibrated by the sum of the current value of the parameter to be calibrated and the current correction quantity, and returning the step 2) until all correction quantity of the parameter to be calibrated accord with the judging conditions. With the correcting method, various calibration parameters of the system are comprehensively considered, the influence of the deviation of various systems is reduced by using a feedback mechanism and the accuracy of the deviation correction quantity of various systems is improved. Meanwhile, with the correcting method, various characteristic of a high resolution depth measuring side scanning sonar are considered, so the correcting method is particularly suitable to be applied to the high resolution depth measuring side scanning sonar.

The invention provides a multi-beam sonar target detection method by applying feature tracking. The method comprises steps: (1) data are acquired through a sonar system, sonar images are formed through imaging, and the continuous sonar images form a sonar image sequence; (2) pretreatment is carried out; (3) scale invariant feature transform features of each frame of sonar image after pretreatment are extracted; (4) feature matching is carried out on former two frames in the sonar image sequence, features which are successfully matched are marked as potential targets, and features which are not matched successfully are discarded; and (5) features presenting the potential targets are tracked in subsequent frames in the sonar image sequence, real targets are screened in the potential targets after the image sequence is traversed, and a feature locus for the real targets can be obtained. The method is used in a single frame of image to judge whether the target exists or not, multiple target features are tracked at the same in the sonar image sequence, the real targets are screened in the potential targets, and the method is wide in applicability.

A sonar system and method of use capable of discriminating a direct acoustic signal present at 60 dB or more above the acoustic echo signal.

The invention relates to a wireless sonar system based on underwater acoustic communication. The system includes an underwater submersible buoy, a water-surface floating-body module and a display andcontrol module (9). The underwater submersible buoy is arranged at the bottom of water. The water-surface floating-body module is arranged on a surface of the water. The display and control module (9)is arranged on a ground shore station. The display and control module (9) sends an instruction to the underwater submersible buoy through the water-surface floating-body module, working status of underwater sonar (3) installed at the underwater submersible buoy is arbitrarily changed, underwater-sonar data are periodically sent to the display and control module (9), and display is carried out.