Sonar tracking of unknown possible objects

1. A method, comprising:

directing a first one or a first series of pulsed sonar beams into a volume of fluid, wherein the one or a first series of pulsed sonar beams is produced by a pulsed sonar beam generator in communication with the volume of fluid;

receiving sonar signals from the volume of fluid, wherein the received sonar signals are received by a sonar signal receiver;

analyzing the received sonar signals for each of the first one or each of the first series of received pulsed energy signals, wherein the analysis is performed with a first analysis method;

distinguishing sonar signals arising from reflections of sonar beams from one or more possible unknown objects, wherein the sonar signals are distinguished according to a first criterion;

assigning first possible shapes to the one or more possible unknown objects according to a second criterion, wherein each of the first possible shapes have a defined unique associated point;

calculating three dimensional coordinates of the defined unique associated points; and

changing at least one of the characteristics of a pulsed energy beam producer or the energy receiver wherein the characteristics are changed in response to the analysis according to a third criterion, wherein the characteristics are at least one of a range, gain, frequency, and field of view.

2. The method of claim 1 , wherein a description of the first possible assigned shapes and the calculated three dimensional coordinates of the defined unique associated points are communicated.

3. The method of claim 1 , further comprising:

directing a second one or a second series of pulsed sonar beams into a volume of fluid;

calculating new three dimensional coordinates of the first possible shapes of the one or more possible unknown objects; and

calculating a rate of change of the three dimensional coordinates.

4. The method of claim 3 , wherein the rate of change of the three dimensional coordinates is communicated.

5. The method of claim 3 , wherein a description of a real time track of the three dimensional coordinates with time is stored.

6. The method of claim 3 , wherein the first possible shapes of the one or more possible unknown objects are reassigned to second possible shapes, a reassignment carried out according to a fourth criterion, and calculating three dimensional positions of the unique associated points of the second possible shapes.

7. The method of claim 6 , wherein the reassigned second shapes are used to replace the first shapes in previous calculations, and a new track of the unique associated points of the second shapes is recorded.

8. The method of claim 1 , wherein the characteristics are changed without human intervention.

9. A method, comprising:

directing a first one or a first series of pulsed sonar beams into a volume of fluid, wherein the one or a first series of pulsed sonar beams is produced by a pulsed sonar beam generator in communication with the volume of fluid;

receiving sonar signals from the volume of fluid, wherein the received sonar signals are received by a sonar signal receiver;

analyzing the received sonar signals for each of the first one or each of the first series of received pulsed energy signals, wherein the analysis is performed with a first analysis method;

distinguishing sonar signals arising from reflections of sonar beams from one or more possible unknown objects, wherein the sonar signals are distinguished according to a first criterion;

assigning three dimensional positions to the one or more possible unknown objects according to a second criterion, wherein the positions are not assigned on the basis of an edge detection technique; and

changing at least one of the characteristics of a pulsed energy beam producer or the energy receiver wherein the characteristics are changed in response to the analysis according to a third criterion, wherein the characteristics are at least one of a range, gain, frequency, and field of view.

10. The method of claim 9 , wherein a description of the calculated three dimensional positions is communicated.

11. The method of claim 9 , further comprising:

calculating the new three dimensional positions of the one or more possible unknown objects; then

calculating a three dimensional rate of change of the positions.

12. The method of claim 11 , wherein a description of the three dimensional rate of change of the positions with time is communicated.

13. The method of claim 11 , wherein a description of a real time track of possible positions with time is stored.

14. The method of claim 11 , wherein a description of a real time track of possible position with time is communicated.

15. The method of claim 9 , wherein the characteristics are changed automatically without human intervention.