Frequency steered sonar array system with three-dimensional functionality

A transducer system comprising:

• a first frequency steered transducer array element, the first frequency steered transducer array element including a plurality of piezoelectric elements;
• a second frequency steered transducer array element, spaced apart from the first frequency steered transducer array element, the second frequency steered transducer array element including a plurality of piezoelectric elements, wherein each frequency steered transducer array element is configured to receive a transmit electronic signal including a plurality of frequency components and to transmit an array of sonar beams into a body of water, each sonar beam transmitted in an angular direction that varies according to one of the frequency components of the transmit electronic signal;
• a display;
• a user interface;
• and
• a processing element in communication with the display, the user interface, the first and second frequency steered transducer array elements, the processing element configured to—
• receive a first receive electronic signal from the first frequency steered sonar array element,
• receive a second receive electronic signal from the second frequency steered array sonar element,
• compare a difference in amplitude between the first receive electronic signal and the second receive electronic signal to determine a cross-track position of a plurality of underwater targets,
• track the relative positions of the plurality of underwater targets,
• control the display to present an indication of the cross-track position of the plurality of underwater targets indicating whether each target is to the left or right of a pointing axis of the system and an alert when a first underwater target is determined to be positioned within a predetermined range of a second underwater target,
• receive from the user interface a selection of one of the plurality of underwater targets by a user, and
• in response to selection of one of the plurality of underwater targets by the user, generate a motor control signal based on the determined cross-track position of the selected underwater target, the motor control signal being usable by a motor to physically position one or more of the transducer array elements to track the selected underwater target.