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US 12,566,264 B2Granted
Enhanced resolution split aperture using beam segmentation
AssigneeCoda Octopus Group, Inc.
InventorMatthew Duncan Powe
Life of this patent
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Abstract
A split aperture beamforming, reflection detection, beam segmentation, and point selection scheme for obtaining high resolution sonar images is disclosed. A sonar imaging device beamforms at a coarse horizontal and vertical resolution to create smaller signal data cuboids. Each beam is partitioned into segments based on direction of arrivals obtained through split aperture beamforming. Detected points in the cuboids are allocated to a beam segment and associated direction of arrival.
Claims20
A computer-implemented method comprising:
- receiving, by a sonar imaging device having a detector array comprising a plurality of elements, raw data comprising reflected signals received by the plurality of elements, wherein the reflected signals are reflected from one or more sonar pings;
- beamforming, by the sonar imaging device, the raw data (i) as received at a full aperture of the detector array at a specified coarse resolution to generate a first spatial cuboid at the specified coarse resolution and (ii) as received at a set of two or more split aperture subarrays of the detector array displaced relative to one another along a first direction at the specified coarse resolution to generate a set of two or more second spatial cuboids at the specified coarse resolution;
- computing, by the sonar imaging device and based on phase information of the two or more second spatial cuboids, a direction of arrival for one or more 3D sonar data points of the first spatial cuboid;
- detecting, in the first spatial cuboid by the sonar imaging device, the one or more 3D sonar data points for inclusion in a point set;
- for each detected point, allocating, by the sonar imaging device, a direction of arrival in at least the first direction to a beam segment according to one or more beam segment boundaries associated with corresponding beams of the first spatial cuboid;
- for each beam segment, selecting, by the sonar imaging device, a 3D sonar data point;
- and
- outputting, by the sonar imaging device, a range matrix representing the point set.
5 more elements
A computer-implemented method comprising:
- receiving, by execution of one or more processors, raw data comprising reflected signals received by a plurality of elements of a detector array, wherein the reflected signals correspond to reflections of at least one or more transmitted signals;
- beamforming the raw data (i) as received at a full aperture of the detector array at a specified coarse resolution to generate a first spatial cuboid at the specified coarse resolution and (ii) as received at a set of two or more split aperture subarrays of the detector array displaced relative to one another along a first direction at the specified coarse resolution to generate a set of two or more second spatial cuboids at the specified coarse resolution;
- computing, based on phase information of the two or more second spatial cuboids, a direction of arrival for one or more 3D data points of the first spatial cuboid;
- detecting, in the first spatial cuboid, the one or more 3D data points for inclusion in a point set;
- for each detected point, allocating a direction of arrival in at least the first direction to a beam segment according to one or more beam segment boundaries associated with corresponding beams of the first spatial cuboid;
- for each beam segment, selecting a 3D data point;
- and outputting a range matrix representing the point set.
4 more elements
Dependencies are inferred from the claim text.