System and method for maintaining sonar imaging of a structure regardless of mounting platform movement and orientation

1 . A sonar positioning system for positioning a sonar array comprising:

a steerable mounting mechanism steerable about a first axis, the steerable mounting mechanism including a propulsion unit of a trolling motor and a first motor for steering the propulsion unit relative to the first axis;

a sonar array; and

a sonar steering mechanism interposed between the sonar array and the steerable mounting mechanism, the sonar steering mechanism including a counter steering mechanism configured to counter and/or compensate for movement of the sonar array due to steering movement of the propulsion unit, the counter steering mechanism including a second motor for steering the sonar array relative to the propulsion unit.

2 . The sonar positioning system of claim 1 , wherein:

the sonar array is attached to the steerable mounting mechanism such that operation of the first motor to steer the propulsion unit moves the sonar array;

the first motor rotatably steers the propulsion unit about the first axis; and

the second motor rotatably steers the sonar array relative to the propulsion unit.

3 . The sonar positioning system of claim 2 , further comprising at least one controller coupled to the first and second motors for driving the first and second motors; and

wherein the at least one controller is configured to drive the second motor in an opposite direction or at a reduced rate as the first motor to counter rotation or limit rotation of the sonar array due to steering of the propulsion unit by the first motor.

4 . The sonar positioning system of claim 3 , wherein the at least one controller has a lockout mode wherein the at least one controller does not drive the second motor when the first motor is being driven to steer the propulsion unit such that the sonar array is rotated with the propulsion unit when the first motor steers the propulsion unit about the first axis.

5 . The sonar positioning system of claim 2 , further comprising at least one controller coupled to the first and second motors for driving the first and second motors; and

wherein the at least one controller includes a first controller and a second controller, the first controller operably controls the first motor and rotation of the propulsion unit about the first axis and the second controller controls the second motor and rotation of the sonar array relative to the propulsion unit.

6 . The sonar positioning system of claim 2 , further comprising at least one controller coupled to the first and second motors for driving the first and second motors; and

wherein the at least one controller is configured to maintain the sonar array at a constant orientation relative to the outside world regardless of rotational motion of the steerable mounting mechanism relative to the outside world.

7 . The sonar positioning system of claim 1 , wherein:

the steerable mounting mechanism includes a mount for mounting to a watercraft, the steerable mounting mechanism rotatable relative to the mount about the first axis; and

the sonar steering mechanism rotates the sonar array relative to the mount.

8 . A system for positioning a sonar array comprising:

a sonar array;

a first motor operably connected to the sonar array and configured to steer the sonar array;

a propulsion unit for a trolling motor;

a second motor operably connected to the propulsion unit configured to steer the propulsion unit;

at least one controller connected to the first and second motors to provide control signals to the first and second motors;

a first input device connected to the at least one controller to provide user generated steering inputs;

wherein:

the at least one controller is configured to switch between a first mode and a second mode;

when in the first mode, the at least one controller only generates control signals for the first motor based on the user generated steering inputs generated by the first input device; and

when in the second mode, the at least one controller only generates control signals for the second motor based on the user generated steering inputs generated by the first input device.

9 . The system of claim 8 , wherein the first input device includes a foot control.

10 . The system of claim 8 , wherein the at least one controller is configured to switch between the first and second modes as well as a third mode, when in the third mode, the at least one controller generates control signals for both the first and second motors based on the user generated steering inputs generated by the first input device.

11 . The system of claim 10 , wherein, when in the third mode, the foot control provides steering inputs to aim the propulsion unit and the sonar array in the same direction.

12 . The system of claim 10 , wherein, when in the third mode, the first input device provides steering inputs for both the first and second motors simultaneously.

13 . The system of claim 8 , wherein, when in the third mode, the at least one controller is configured to steer the sonar array in an opposite direction as the propulsion unit and/or at a different angular rate.

14 . The system of claim 8 , wherein steering of the propulsion unit does not mechanically steer the sonar array and steering of the sonar array does not mechanically steer the propulsion unit.

15 . The system of claim 8 , further comprising a deployment arrangement configured to be mounted to a boat and transitioned between a deployed state and a stowed state; and

wherein the first and second motors, the propulsion unit, and the sonar array are all attached to the deployment arrangement for transitioning between the deployed state and stowed state with the deployment arrangement.

16 . The system of claim 15 , wherein:

the first motor rotates the sonar array relative to the deployment arrangement about a first axis; and

the second motor rotates the propulsion unit relative to the deployment arrangement about a second axis, the second axis being different than the first axis.

17 . The system of claim 8 , wherein the at least one controller is configured to steer the sonar array to maintain the sonar array pointed at a desired target within a body of water regardless of steering of the propulsion unit.

18 . The system of claim 8 , wherein:

the at least one controller is configured to use signals from the sonar array to identify an identified target within a body of water in which the sonar array is located; and

the at least one controller is configured to prompt a user whether to steer the sonar array to maintain the sonar array aimed at the identified target.

19 . A method of positioning a sonar array comprising:

when operating in a first mode:

receiving user generated steering inputs generated from a first input device;

using the user generated steering inputs generated from the first input device to steer only a sonar array by operably controlling a first motor operably coupled to the sonar array based on the user generated steering inputs from the first input device; and

when operating in a second mode:

receiving user generated steering inputs generated from the first input device;

using the user generated steering inputs generated from the first input device to steer only a propulsion unit by operably controlling a second motor operably coupled to the sonar array based on the user generated steering inputs from the first input device.

20 . The method of claim 19 , wherein when operating in a third mode:

using a same user generated steering input to control both the first and second motors and to steer both the sonar array and the propulsion unit.

21 . The method of claim 19 , further including:

when in the second mode, steering the sonar array with a controller independent of the user generated steering inputs to maintain the sonar array pointed at a desired target within a body of water or in a desired orientation relative to a real world coordinate system.