Underwater detection apparatus

A detection apparatus, comprising:

• a transmission transducer comprising a plurality of transmission elements arranged on a structure with a shape of a part of a curved side of a cylinder, at least one of the plurality of transmission elements extending in an oblique direction relative to a central axis of the cylinder, the plurality of transmission elements being configured to be fixed to an object;
• a reception transducer comprising a plurality of reception elements;
• processing circuitry configured to acquire an attitude information of the object;
• a transmission circuit configured to drive the plurality of transmission elements based on the attitude information to control the transmission transducer to transmit a transmission wave in a given direction;
• and
• a reception circuit configured to obtain a reception signal from at least one or the plurality of reception elements based on a reflection wave of the transmission wave, the reflection wave being received by the reception transducer.