3D sonar systems and methods
Techniques are disclosed for systems and methods to provide accurate and compact three dimensional (3D) capable multichannel sonar systems for mobile structures. A 3D capable multichannel sonar system includes a multichannel transducer and associated processing and control electronics and optionally orientation and/or position sensors disposed substantially within the housing of a sonar transducer assembly. The multichannel transducer includes multiple transmission and/or receive channels/transducer elements. The transducer assembly is configured to support and protect the multichannel transducer and associated electronics and sensors, to physically and/or adjustably couple to a mobile structure, and/or to provide a simplified interface to other systems coupled to the mobile structure. Resulting sonar data and/or imagery may be displayed to a user and/or used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.
1. A system comprising:
a sonar transducer assembly including a housing adapted to be mounted to a mobile structure;
a multichannel transducer disposed within the housing; and
a logic device configured to communicate with the multichannel transducer, wherein the logic device is configured to:
receive a first series of acoustic returns from the multichannel transducer;
generate a first set of spatial sonar data based, at least in part, on the series of acoustic returns; and
generate an enhanced three dimensional (3D) and/or sidescan representation of an underwater environment associated with the mobile structure based, at least in part, on a combination of:
a 3D representation of the underwater environment generated from the first set of spatial sonar data, and
a second set of spatial sonar data frequency differentiated from the first set of spatial sonar data.
2. The system of claim 1 , wherein the logic device is configured to:
generate the 3D representation of the underwater environment based, at least in part, on the first set of spatial sonar data and position data.
3. The system of claim 2 , wherein the logic device is configured to:
generate the enhanced 3D representation of the underwater environment further based, at least in part, on a combination of image data provided by a camera, ranging system data, and chart data.
4. The system of claim 1 , wherein the series of acoustic returns comprises a first series of acoustic returns, the first set of spatial sonar data comprises a first set of sidescan sonar data, and the multichannel transducer comprises:
an interferometric sonar subsystem disposed within the housing and configured to provide the first series of acoustic returns; and
a sidescan sonar subsystem disposed within the housing and configured to provide a second series of acoustic returns, wherein the logic device is configured to:
receive the second series of acoustic returns;
generate a second set of sidescan sonar data based, at least in part, on the second series of acoustic returns; and
generate the enhanced sidescan representation of the underwater environment based, at least in part, on a combination of the first and second sets of sidescan sonar data.
5. The system of claim 4 , wherein:
the interferometric sonar subsystem is configured to operate at a first frequency or across a first band of frequencies; and
the sidescan sonar subsystem is configured to operate at a second frequency higher than the first frequency or across a second band of frequencies higher than the first band of frequencies.
6. The system of claim 1 , wherein the series of acoustic returns comprises a first series of acoustic returns, and wherein the multichannel transducer comprises:
an interferometric sonar subsystem configured to provide the first series of acoustic returns;
wherein the logic device is configured to:
receive a second series of acoustic returns from a sidescan sonar subsystem mounted to the mobile structure;
generate a set of sidescan sonar data based, at least in part, on the second series of acoustic returns;
generate the 3D representation of the underwater environment based, at least in part, on the first set of spatial sonar data; and
generate the enhanced 3D representation of the underwater environment based, at least in part, on a combination of the 3D representation and the set of sidescan sonar data.
7. The system of claim 6 , wherein the logic device is configured to:
generate a set of interferometric sidescan sonar data based, at least in part, on the first series of acoustic returns; and
generate the enhanced 3D representation of the underwater environment based, at least in part, on a combination of the 3D representation, the set of sidescan sonar data, and the set of interferometric sidescan sonar data.
8. The system of claim 1 , further comprising a temperature sensor, an orientation sensor, and/or a position sensor, wherein the logic device is configured to:
receive temperature, orientation, and/or position measurements from the temperature, orientation, and/or position sensors; and
generate the first set of spatial sonar data based, at least in part, on the temperature, orientation, and/or position measurements.
9. The system of claim 8 , wherein:
the mobile structure comprises a watercraft;
the logic device, temperature sensor, orientation sensor, and/or position sensor are disposed within the housing; and
the transducer assembly is adjustably mounted to a transom of the watercraft, a hull of the watercraft, a side of the watercraft, and/or an actuated and/or manual probe coupled to the watercraft and/or held by a user of the watercraft.
10. The system of claim 1 , further comprising a user interface configured to display the enhanced 3D and/or sidescan representation of the underwater environment to a user, wherein the logic device is adapted to:
generate one or more selected display views from the enhanced 3D and/or sidescan representation of the underwater environment; and
display the one or more selected display views to the user, wherein the selected display views comprise an instantaneous view, an aggregate side view, a port and starboard differentiated aggregate side view, a port and starboard perspective view, an aggregate vertical down view, a three dimensional perspective view, a three dimensional bathymetric view, and/or a graphically differentiated port and starboard differentiated aggregate side view.
11. A method comprising:
receiving a series of acoustic returns from a multichannel transducer disposed within a housing of a sonar transducer assembly adapted to be mounted to a mobile structure;
generating a first set of spatial sonar data based, at least in part, on the series of acoustic returns; and
generating an enhanced three dimensional (3D) and/or sidescan representation of an underwater environment associated with the mobile structure based, at least in part, on a combination of:
a 3D representation of the underwater environment generated from the first set of spatial sonar data, and
a second set of spatial sonar data frequency differentiated from the first set of spatial sonar data.
12. The method of claim 11 , further comprising:
generating the 3D representation of the underwater environment based, at least in part, on the first set of spatial sonar data and position data.
13. The method of claim 12 , further comprising:
generating the enhanced 3D representation of the underwater environment further based, at least in part, on a combination of image data provided by a camera, ranging system data, and chart data.
14. The method of claim 11 , wherein the series of acoustic returns comprises a first series of acoustic returns, the first set of spatial sonar data comprises a first set of sidescan sonar data, and the multichannel transducer comprises:
an interferometric sonar subsystem disposed within the housing and configured to provide the first series of acoustic returns; and
a sidescan sonar subsystem disposed within the housing and configured to provide a second series of acoustic returns, wherein the logic device is configured to:
receive the second series of acoustic returns;
generate a second set of sidescan sonar data based, at least in part, on the second series of acoustic returns; and
generate the enhanced sidescan representation of the underwater environment based, at least in part, on a combination of the first and second sets of sidescan sonar data.
15. The method of claim 14 , wherein:
the interferometric sonar subsystem is configured to operate at a first frequency or across a first band of frequencies; and
the sidescan sonar subsystem is configured to operate at a second frequency higher than the first frequency or across a second band of frequencies higher than the first band of frequencies.
16. The method of claim 11 , wherein the series of acoustic returns comprises a first series of acoustic returns, and wherein the multichannel transducer comprises:
an interferometric sonar subsystem configured to provide the first series of acoustic returns;
wherein the logic device is configured to:
receive a second series of acoustic returns from a sidescan sonar subsystem mounted to the mobile structure;
generate a set of sidescan sonar data based, at least in part, on the second series of acoustic returns;
generate the 3D representation of the underwater environment based, at least in part, on the first set of spatial sonar data; and
generate the enhanced 3D representation of the underwater environment based, at least in part, on a combination of the 3D representation and the set of sidescan sonar data.
17. The method of claim 16 , further comprising:
generating a set of interferometric sidescan sonar data based, at least in part, on the first series of acoustic returns; and
generating the enhanced 3D representation of the underwater environment based, at least in part, on a combination of the 3D representation, the set of sidescan sonar data, and the set of interferometric sidescan sonar data.
18. The method of claim 11 , further comprising:
receiving temperature, orientation, and/or position measurements from temperature, orientation, and/or position sensors; and
generating the first set of spatial sonar data based, at least in part, on the temperature, orientation, and/or position measurements.
19. The method of claim 18 , wherein:
the mobile structure comprises a watercraft;
the temperature sensor, orientation sensor, and/or position sensor are disposed within the housing; and
the transducer assembly is adjustably mounted to a transom of the watercraft, a hull of the watercraft, a side of the watercraft, and/or an actuated and/or manual probe coupled to the watercraft and/or held by a user of the watercraft.
20. The method of claim 11 , further comprising:
generating one or more selected display views from the enhanced 3D and/or sidescan representation of the underwater environment; and
displaying the one or more selected display views to the user, wherein the selected display views comprise an instantaneous view, an aggregate side view, a port and starboard differentiated aggregate side view, a port and starboard perspective view, an aggregate vertical down view, a three dimensional perspective view, a three dimensional bathymetric view, and/or a graphically differentiated port and starboard differentiated aggregate side view.