Method and apparatus for correlation sonar
A correlation SONAR that provides improved velocity estimates due to a reduction in random and bias errors is disclosed. Rather than basing the velocity estimate on a single set of primary receiver pairs, one or more additional velocity estimates are generated based on one or more available receiver pair sets having the same velocity vectors as the primary receiver pairs set. Additional velocity estimates also provide a reliability and accuracy improvement by enabling identification and subsequent elimination of erroneous velocity estimates.
1. In a method for a velocity-measuring correlation SONAR, the improvement comprising:
selecting redundant receiver pairs having velocity vectors that are the same as primary receiver pairs upon which a first velocity estimate has been based; and
estimating velocity based on said redundant receiver pairs, thereby developing a second velocity estimate; and
developing a first velocity solution, wherein said first velocity solution is a function of said first velocity estimate and said second velocity estimate.
2. The method of claim 1 wherein said redundant receiver pairs comprise two prime hydrophones.
3. The method of claim 1 wherein at least one of said redundant receiver pairs comprise at least one back-up hydrophone.
4. The method of claim 1 wherein said correlation SONAR is a Spatial correlation SONAR.
5. The method of claim 1 wherein said correlation SONAR is a Temporal correlation SONAR.
6. The method of claim 1 further comprising comparing said first velocity estimate to said second velocity estimate.
7. The method of claim 6 further comprising issuing a notification if a difference between said first velocity estimate and said second velocity estimate exceeds a threshold.
8. The method of claim 1 further comprising:
obtaining additional velocity estimates;
rejecting any one or more of said first velocity estimate, said second velocity estimate, or any of said additional velocity estimates if they differ by more than a threshold from an average of said first velocity estimate, said second velocity estimate and said additional velocity estimates; and
developing a second velocity solution, wherein said second velocity solution is a function of all non-rejected velocity estimates.
9. An apparatus comprising:
a receiver array, wherein said receiver array comprises a plurality of hydrophones;
means for developing a first velocity estimate, wherein said first velocity estimate is based on a primary pair of said hydrophones having a first velocity vector; and
means for developing a second velocity estimate, wherein said second velocity estimate is based on a redundant pair of said hydrophones having a second velocity vector, wherein said second velocity vector is equal to said first velocity vector; and
means for developing a first velocity solution, wherein said first velocity solution is a function of said first velocity estimate and said second velocity estimate.
10. The apparatus of claim 9 further comprising a transmitter.
11. The apparatus of claim 9 wherein said redundant pair of hydrophones comprises two prime hydrophones.
12. The apparatus of claim 9 wherein said redundant pair of hydrophones comprises at least one back-up hydrophone.
13. The apparatus of claim 9 wherein there are sixteen hydrophones in said receiver array.
14. The apparatus of claim 9 further comprising:
means for developing additional velocity estimates based on additional redundant pairs of hydrophones; and
means for obtaining a second velocity solution based on said first velocity estimate, said second velocity estimate, and said additional velocity estimates.
15. The apparatus of claim 14 further comprising means for identifying any one or more of said first velocity estimate, said second velocity estimate, or any of said additional velocity estimates when they differ by more than a threshold amount from an average of said first velocity estimate, said second velocity estimate and said additional velocity estimates.
16. The apparatus of claim 15 further comprising means for excluding, from said second velocity solution, any one or more velocity estimates that are identified as differing by more than said threshold amount.
17. In a method for a velocity-measuring correlation SONAR, the improvement comprising:
selecting redundant receiver pairs having velocity vectors that are the same as primary receiver pairs upon which a first velocity estimate has been based; and
estimating velocity based on said redundant receiver pairs, thereby developing a second velocity estimate;
comparing said first velocity estimate to said second velocity estimate; and
issuing a notification if a difference between said first velocity estimate and said second velocity estimate exceeds a threshold.
18. In a method for a velocity-measuring correlation SONAR, the improvement comprising:
selecting redundant receiver pairs having velocity vectors that are the same as primary receiver pairs upon which a first velocity estimate has been based; and
estimating velocity based on said redundant receiver pairs, thereby developing a second velocity estimate, wherein at least one of said redundant receiver pairs comprise at least one back-up hydrophone.