Sonar apparatus
Sonar apparatus for the location and display of features on the underwater floor in front of a boat includes port and starboard transducer units each containing transducer arrays. A transducer interface and a visual processor process signals from the transducer arrays to generate image data for a display. The transducer arrays emit sound waves into non-overlapping segments of water, reflected by the underwater floor back to the transducer arrays, which convert them to electrical signals. The electrical signals are processed to calculate a three-dimensional position of each point on the underwater floor. The sonar apparatus performs interpolation using the three-dimensional positions of the reflecting points within the segments to calculate three-dimensional positions of points on the underwater floor between these segments. The three-dimensional positions of the points are then used to generate image data showing the underwater floor in front of the boat.
1. Sonar apparatus for mounting on a boat, comprising:
at least one transmitter operable to transmit sound waves for reflection from points on the underwater floor in front of the boat;
a plurality of one-dimensional arrays of receiving transducers, comprising a respective array for each of a plurality of segments of water in front of the boat, each array of receiving transducers being responsive to received sound waves reflected from points on the underwater floor within the respective associated segment of water in front of the boat to produce electrical signals, wherein the one-dimensional arrays of receiving transducers are arranged in a plurality of housings configured to be mounted on the port and starboard sides of the boat, and wherein each housing contains at least two one-dimensional arrays of receiving transducers, with the arrays mounted at a predetermined angle relative to each other so as to receive reflected sound waves from different respective segments of the water in front of the boat that are separated from each other in a horizontal plane;
a feature locator operable to process the electrical signals from each respective array of receiving transducers to calculate three-dimensional positions of reflecting points on the underwater floor within the segment of water associated with the array of receiving transducers;
an interpolator operable to calculate from the three-dimensional positions of the reflecting points within the segments calculated by the feature locator, three-dimensional positions of points on the underwater floor in front of the boat between the segments; and
a display data generator operable to process the three-dimensional positions of the points to generate image data for display showing the underwater floor in front of the boat.
2. Sonar apparatus according to claim 1 , wherein:
a plurality of transmitters are provided, each transmitter being arranged in a respective array of receiving transducers; and
the sonar apparatus is arranged to control each array such that the operational time of the array, comprising the time during which the transmitter in the array transmits sound waves and the time during which the receiving transducers in the array receive reflected sound waves, does not overlap with the operational time of any of the other arrays.
3. Sonar apparatus according to claim 1 , wherein the segments of water associated with the arrays of receiving transducers are equally angularly spaced in a horizontal plane.
4. Sonar apparatus according to claim 1 , wherein the feature locater is operable to process the electrical signals from each respective array of receiving transducers to calculate the three-dimensional positions of each reflecting point in the segment of water associated with the transducer array by:
calculating an angle of the reflecting point relative to the array of receiving transducers in dependence upon relative phases of the electrical signals produced by receiving transducers in the array;
calculating the distance of the reflecting point from the transducer array in a horizontal plane in dependence upon the calculated angle;
calculating the depth of the reflecting point in a vertical plane in dependence upon the calculated angle; and
calculating coordinates defining the three-dimensional position of the reflecting point relative to the boat in dependence upon the calculated distance and depth.
5. Sonar apparatus according to claim 1 , wherein the interpolator is arranged to calculate a depth of each said point in front of the boat between the segments by calculating a weighted sum of the depths of a plurality of reflecting points on the underwater floor within at least two of the segments of water in front of the boat.
6. Sonar apparatus according to claim 5 , wherein the interpolator is operable to calculate, for each said point between the segments, a respective weighting factor for each reflecting point within the at least two segments that is to contribute to the depth of the point between the segments, and is operable to calculate the depth of the point between the segments by calculating the weighted sum of the depths and dividing the weighted sum of the depths by a sum of the weighting factors.
7. Sonar apparatus for mounting on a boat, comprising:
at least one transmitter operable to transmit sound waves for reflection from points on the underwater floor in front of the boat;
a plurality of arrays of receiving transducers, comprising a respective array for each of a plurality of segments of water in front of the boat, each array of receiving transducers being responsive to received sound waves reflected from points on the underwater floor within the respective associated segment of water in front of the boat to produce electrical signals;
a feature locator operable to process the electrical signals from each respective array of receiving transducers to calculate three-dimensional positions of reflecting points on the underwater floor within the segment of water associated with the array of receiving transducers;
an interpolator operable to calculate from the three-dimensional positions of the reflecting points within the segments calculated by the feature locator, three-dimensional positions of points on the underwater floor in front of the boat between the segments; and
a display data generator operable to process the three-dimensional positions of the points to generate image data for display showing the underwater floor in front of the boat;
wherein the interpolator is arranged to calculate a depth of each said point in front of the boat between the segments by calculating a weighted sum of the depths of a plurality of reflecting points on the underwater floor within at least two of the segments of water in front of the boat; and
wherein the interpolator is arranged to calculate a weighting factor for each reflecting point that is to contribute to the depth of the point between the segments as
weighting
factor
=
1
d
p
where “d” is the distance between the point between the segments and the reflecting point within a segment, and “p” is a constant.
8. Sonar apparatus according to claim 1 , wherein the display data generator is operable to generate the image data for display showing the underwater floor in front of the boat from a plurality of different viewing directions.
9. A method of locating points on an underwater floor in front of a boat and generating image data for display showing the underwater floor, the method comprising:
transmitting sound waves from at least one transmitter for reflection from points on the underwater floor in front of the boat;
receiving sound waves reflected from points on the underwater floor within different respective segments of water in front of the boat and converting the received sound waves to electrical signals for each of the segments of water, the receiving and converting being performed by a plurality of one-dimensional arrays of receiving transducers, comprising a respective array for each of the plurality of segments of water in front of the boat, wherein the one-dimensional arrays of receiving transducers are arranged in a plurality of housings, at least one housing being mounted on the port side of the boat and at least one housing being mounted on the starboard side of the boat, and wherein each housing contains at least two one-dimensional arrays of receiving transducers mounted at a predetermined angle relative to each other so as to receive sound waves from different respective segments of water in front of the boat that are separated from each other in a horizontal plane;
processing the electrical signals from each respective segment of water to calculate three-dimensional positions of reflecting points on the underwater floor within the segment of water;
calculating from the calculated three-dimensional positions of the reflecting points within the segments, three-dimensional positions of points on the underwater floor in front of the boat between the segments; and
processing the three-dimensional positions of the points to generate image data for display showing the underwater floor in front of the boat.
10. A method according to claim 9 , wherein:
the sound waves are transmitted from a plurality of transmitters;
each transmitter is arranged in a respective array of the receiving transducers; and
each array is controlled such that the operational time of the array, comprising the time during which the transmitter in the array transmits sound waves and the time during which the receiving transducers in the array receive reflected sound waves, does not overlap with the operational time of any of the other arrays.
11. A method according to claim 9 , wherein the segments of water from which the reflected sound waves are received are equally angularly spaced in a horizontal plane.
12. A method according to claim 9 , wherein the electrical signals for each respective segment of water are processed to calculate the three-dimensional position of each reflecting point on the underwater floor within the segment of water by:
calculating an angle of the reflecting point relative to a receiver in dependence upon relative phases of the electrical signals;
calculating the distance of the reflecting point from the receiver in a horizontal plane in dependence upon the calculated angle;
calculating the depth of the reflecting point in a vertical plane in dependence upon the calculated angle; and
calculating coordinates defining the three-dimensional position of the reflecting point relative to the boat in dependence upon the calculated distance and depth.
13. A method according to claim 9 , wherein a depth of each said point in front of the boat between the segments is calculated by calculating a weighted sum of the depths of a plurality of reflecting points on the underwater floor within at least two of the segments of water in front of the boat.
14. A method according to claim 13 , wherein, for each said point between the segments, a respective weighting factor is calculated for each reflecting point within the at least two segments that is to contribute to the depths of the point between the segments, and the depth of the point between the segments is calculated by calculating the weighted sum of the depths and dividing the weighted sum of the depths by a sum of the weighting factors.
15. A method of locating points on an underwater floor in front of a boat and generating image data for display showing the underwater floor, the method comprising:
transmitting sound waves for reflection from points on the underwater floor in front of the boat;
receiving sound waves reflected from points on the underwater floor within different respective segments of water in front of the boat and converting the received sound waves to electrical signals for each of the segments of water;
processing the electrical signals from each respective segment of water to calculate three-dimensional positions of reflecting points on the underwater floor within the segment of water;
calculating from the calculated three-dimensional positions of the reflecting points within the segments, three-dimensional positions of points on the underwater floor in front of the boat between the segments; and
processing the three-dimensional positions of the points to generate image data for display showing the underwater floor in front of the boat;
wherein a depth of each said point in front of the boat between the segments is calculated by calculating a weighted sum of the depths of a plurality of reflecting points on the underwater floor within at least two of the segments of water in front of the boat; and
wherein a weighting factor is calculated for each reflecting point used in the weighted sum as
weighting
factor
=
1
d
p
where “d” is the distance between the point between the segments and the reflecting point within a segment, and “p” is a constant.
16. A method according to claim 9 , wherein the image data for display showing the underwater floor in front of the boat is generated from a plurality of different viewing directions.