Granted Patent B2

US 12,216,206 · App. 18/137,273 · Granted Feb 4, 2025

Inventors: Jens Steenstrup (Austin, TX); Kirk Hobart (Austin, TX); Mark Chun (Austin, TX); Christopher Tiemann (Austin, TX); Peter Bilodeau (Austin, TX)

Assignee: R3VOX LTD

G01S15/8902G01S7/52003G01S7/534G01S15/32G01S15/325G01S15/586G01S15/89

Abstract

Claims (58)

1. A method of compressing data from a sonar system comprising the steps of:

providing an acoustic transceiver including a transmitter and a receiver, the acoustic transceiver interconnected with plural transducers in a single projector array and plural transducers in a single hydrophone array;

exciting the projector array with a transmitter message such that a particular geometric space is ensonified;

receiving echoes via the plural hydrophones from the geometric space at each of plural times t 1 , t 2 , . . . t z ;

at each of one or more of the times t x , forming Q receive beams with respective angles of arrival, the Q receive beams formed by the hydrophone array;

associating each of the Q beams with a magnitude M t x ,i indexed by the time t x and beam number i; and,

identifying as characterizing beams one or more beams with largest and next largest magnitudes at each of the times t x ;

wherein compressed data results from using data associated with the characterizing beams as a compressed characterization of the ensonified space.

2. The method of claim 1 wherein the projector array and the hydrophone array are installed on a water-going vehicle.

3. The method of claim 1 wherein for each time t x a beam with a first largest magnitude (M t x ,i ) max1 is identified as the characterizing beam such that the data associated with these characterizing beams is the compressed characterization of the ensonified space.

4. The method of claim 1 wherein for each time t x the beams with first largest magnitude (M t x ,i ) max1 and second largest magnitude (M t x ,i ) max2 are identified as the characterizing beams such that the data associated with these characterizing beams is the compressed characterization of the ensonified space.

5. A method of compressing data from a sonar system comprising the steps of:

providing an acoustic transceiver including a transmitter and a receiver, the acoustic transceiver interconnected with plural transducers in a single projector array and plural transducers in a single hydrophone array;

exciting the projector array with a transmitter message such that a particular geometric space is ensonified;

receiving echoes via the plural hydrophones from the geometric space at each of plural times t 1 , t 2 , . . . t z ;

at each of one or more of the times t x , forming Q receive beams with respective angles of arrival, the Q receive beams formed by the hydrophone array;

forming a first subsector from a subset S 1 of u<Q beams; and,

associating each of the u beams with a magnitude M t x ,i indexed by the time t x and beam number i;

wherein for each time t x , the beams with the first, second . . . N<u largest magnitudes among the u beams (M t x ,i ) umax1, umax2 . . . umaxN are found and data associated with these characterizing beams are used as a compressed characterization of the ensonified space.

6. The method of claim 5 further comprising:

forming T subsectors from respective subsets S 1 , S 2 . . . S T of the Q beams wherein for each time t x and for each of the T subsectors the subsector beams with the N largest magnitudes [(M t x ,i ) Tmax1, Tmax2 . . . TmaxN ] Sx are identified as characterizing beams and data associated with these characterizing beams are used as a compressed characterization of an ensonified space.

7. The method of claim 5 wherein the quantity Q may vary at each time t x .

8. The method of claim 5 wherein echo samples at each time t x are range gated within minimum and maximum altitudes to generate gated echo samples.

9. The method of claim 5 wherein the single projector array is linear and the single hydrophone array is linear; and,

configuring the projector array orthogonally with respect to the hydrophone array to form a Mills cross such that a projector array transmit beam and multiple hydrophone array receive beams intersect.

10. The method of claim 5 wherein the acoustic transceiver produces n projector signals;

for each of the n projector signals, the Q beams are generated with a respective beamformer at each time t x- ;

for each of the times t x identifying as a characterizing beam a beam with the largest magnitude (M t x ,i ) maxn1 from among each of the n beamformers' Q beams; and,

using data associated with the characterizing beams as a compressed characterization of the ensonified space.

11. A method of compressing data from a sonar system comprising the steps of:

providing an acoustic transmitter and an acoustic receiver, plural transducers in a single projector array used by the acoustic transmitter and plural transducers in a single hydrophone array used by the acoustic receiver;

ensonifying a particular geometric space with an acoustic transmitter message emitted from the projector array;

at plural times t 1 , t 2 . . . t z , receiving echoes from the geometric space via the hydrophone array;

at each of one or more of the times t x , forming a group of Q receive beams with respective angles of arrival;

recognizing that at each of the times t x the Q receive beams of each group have a magnitude M t x ,i where i denotes the i th receive beam;

for each group of Q receive beams, identifying as a characterizing beam the one or more beams with a largest or next largest magnitudes at each of the times t x ; and,

using the recognized magnitudes as a compressed characterization of the ensonified space.

12. The method of claim 11 wherein the projector array and the hydrophone array are installed on a water-going vehicle.

13. The method of claim 11 wherein for each time t x the beam with the first largest magnitude (M t x ,i ) max1 is identified as a characterizing beam and data associated with these characterizing beams are used as a compressed characterization of the ensonified space.

14. The method of claim 11 wherein for each time t x the beams with the first, second . . . N<Q largest magnitudes (M t x ,i ) max1, max2 . . . maxN are identified as characterizing beams and data associated with these characterizing beams are used as a compressed characterization of the ensonified space.

15. A method of compressing data from a sonar system comprising the steps of:

providing an acoustic transmitter and an acoustic receiver, plural transducers in a single projector array used in the acoustic transmitter and plural transducers in a single hydrophone array used in the acoustic receiver;

ensonifying a particular geometric space with an acoustic transmitter message emitted from the projector array;

at plural times t 1 , t 2 . . . t z , receiving echoes from the geometric space via the hydrophone array;

at each of one or more of the times t x , forming a group of Q receive beams with respective angles of arrival;

recognizing that at each of the times t x the Q receive beams of each group have a magnitude M t x ,i where i denotes the i th receive beam;

for each group of Q receive beams, identifying as a characterizing beam the one or more beams with a largest or next largest magnitudes at each of the times t x ; and,

using the recognized magnitudes as a compressed characterization of the ensonified space.

16. The method of claim 15 further comprising:

forming T subsectors from respective subsets S 1 , S 2 . . . S T of the Q beams wherein for each time t x and for each of the T subsectors the subsector beams with the N largest magnitudes [(M t x ,i ) Tmax1, Tmax2 . . . TmaxN ] Sx are identified as characterizing beams and data associated with these characterizing beams are used as a compressed characterization of an ensonified space.

17. The method of claim 15 wherein the quantity Q may vary at each time t x .

18. The method of claim 15 wherein echo samples at each time t x are range gated within minimum and maximum altitudes to generate gated echo samples.

19. The method of claim 15 wherein the single projector array is linear and the single hydrophone array is linear; and,

configuring the projector array orthogonally with respect to the hydrophone array to form a Mills cross such that a projector array transmit beam and multiple hydrophone array receive beams intersect.

20. The method of claim 15 wherein the acoustic transceiver produces n projector signals;

for each of the n projector signals, the Q beams are generated with a respective beamformer at each time t x ;

for each of the times t x identifying as characterizing beams one or more beams with the largest or next largest magnitudes (M t x ,i ) maxn1 . . . (M t x ,i ) maxnN from among the beamformers output; and

using data associated with the characterizing beams as a compressed characterization of the ensonified space.

Assignments (2)

Continuity (5)

References Cited (45)