3-D forward looking sonar with fixed frame of reference for navigation

A sonar system, comprising:

• one or more sonar emitters;
• an array of sonar sensors configured to receive an echo from an outgoing signal generated by said sonar emitter and generate a raw data signal;
• at least one roll, tilt, and yaw sensor;
• input from a sensor determining the latitude and longitude position of the sonar emitter;
• circuitry adapted to collect said raw signal data and the reduce and ouput said raw signal data to image data, which has been rotated responsively to the roll, tilt and yaw orientation of the sonar system as determined by the respective sensors at least one roll, tilt and yaw sensor with respect to a fixed frame of reference from ping-to-ping allowing for the successive display of multiple images from successive transmissions to be oriented with the same fixed frame of reference in a direction relative to the earth;
• and
• wherein said system is generates a complete image with a single transmission.