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US 7,355,924 B2Granted
3-D forward looking sonar with fixed frame of reference for navigation
AssigneeFarSounder, Inc.
InventorsMatthew Jason Zimmerman, James Henry Miller
Life of this patent
Estimating the term…
Abstract
An imaging sonar system develops three-dimensional images of the space below, to the sides, and forward of a ship relative to a fixed frame of reference. Various features permit the system to be used in non-military environments and make possible low cost with substantial capabilities.
Claims19
A sonar system, comprising:
- at least one sonar emitter;
- at least one sonar sensor configured to receive an echo from a signal generated by the at least one sonar emitter, wherein the at least one sonar sensor generates a raw data signal;
- at least one roll, tilt, and/or yaw sensor;
- processing means for transforming the raw data signal to an image data, wherein said image data has been rotated responsively to the sonar sensor's orientation as determined by the at least one roll, tilt, and/or yaw sensor;
- wherein said processing means generates a complete image with a single transmission;
- wherein the roll, tilt, and/or yaw orientation of said image data with respect to a fixed frame of reference and the successive display of multiple image data is orientated in the same fixed frame of reference;
- wherein the sonar sensor consists of multiple transducer elements and is configured in a Mills Cross orientation consisting of two orthogonal linear receivers;
- and
- wherein the sonar emitter consists of a broad beam transmitter.
6 more elements
A sonar system, comprising:
- at least one sonar emitter;
- at least one sonar sensor configured to receive an echo from a signal generated by the at least one sonar emitter wherein the at least one sonar sensor generates a raw data signal;
- at least one roll, tilt, and/or yaw sensor;
- processing means for transforming the raw data signal to an image data, wherein said image data has been rotated responsively to the sonar sensor's orientation as determined by the at least one roll, tilt, and/or yaw sensor;
- wherein said processing means generates a complete image with a single transmission;
- wherein the roll, tilt, and/or yaw orientation of said image data with respect to a fixed frame of reference and the successive display of multiple image data is orientated in the same fixed frame of reference;
- and
- wherein said image data is bounded by a geometrical shape which is specified with respect to said fixed frame of reference.
5 more elements
A sonar system, comprising:
- at least one sonar emitter;
- at least one sonar sensor configured to receive an echo from a signal generated by the at least one sonar emitter, wherein the at least one sonar sensor generates a raw data signal;
- at least one roll, tilt, and/or yaw sensor;
- processing means for transforming the raw data signal to an image data, wherein said image data has been rotated responsively to the sonar sensor's orientation as determined by the at least one roll, tilt, and/or yaw sensor;
- wherein said processing means generates a complete image with a single transmission;
- and wherein the roll, tilt, and/or yaw orientation of said image data with respect to a fixed frame of reference and the successive display of multiple image data is orientated in the same fixed frame of reference;
- and
- wherein bounds of a processing parameter is determined dynamically based upon the orientation of the sonar system with respect to said fixed frame of reference.
5 more elements
A sonar system, comprising:
- means for processing sonar data into image data, wherein said image data is orientated with respect to a fixed frame of reference in a roll, tilt, and/or yaw orientation as determined by a plurality of sensors;
- wherein said processing of the sonar data into image data allows for the display of multiple images from successive transmissions to be oriented with said fixed frame of reference;
- wherein individual targets or sonar echo returns within a single image of said multiple images are grouped into at least one group based upon characteristics of a signal pertaining to said targets or sonar echo returns;
- wherein visualization of said targets or sonar echo returns within the at least one group varies based upon said characteristics;
- and
- wherein said at least one group is displayed.
3 more elements
A sonar system, comprising:
- means for processing sonar data into image data, wherein said image data is orientated with respect to a fixed frame of reference in a roll, tilt, and/or yaw orientation as determined by a plurality of sensors;
- wherein said processing of the sonar data into image data allows for the display of multiple images from successive transmissions to be oriented with said fixed frame of reference;
- wherein individual targets or sonar echo returns within a single image of said multiple images are grouped into at least one group based upon characteristics of a signal pertaining to said targets or sonar echo returns;
- and
- wherein one or more of said groups are communicated to one or more external devices for further display, comparison, or navigation decision making based upon said classified characteristics.
2 more elements
Dependencies are inferred from the claim text.