A system for virtual aperture array radar tracking includes a transmitter that transmits first and second probe signals; a receiver array including a first plurality of radar elements positioned along a first radar axis; and a signal processor that calculates a target range from first and second reflected probe signals, corresponds signal instances of the first reflected probe signal to physical receiver elements of the radar array, corresponds signal instances of the second reflected probe signal to virtual elements of the radar array, calculates a first target angle between a first reference vector and a first projected target vector from the first reflected probe signal, and calculates a position of the tracking target relative to the radar array from the target range and first target angle.

Disclosed are a control method and a control device for an ultrasonic receiving device. The control method includes: determining a target receiver of the ultrasonic receiving device, where the ultrasonic receiving device includes at least two ultrasonic receivers, and the target receiver is one of the at least two ultrasonic receivers on the ultrasonic receiving device that is the nearest to an ultrasonic transmitting device; and controlling a state of each of the at least two ultrasonic receivers on the ultrasonic receiving device based on the determined target receiver. Thus, the ultrasonic ranging error is reduced, and the accuracy of measurement is improved.

A method for controlling a sound box, includes: in response to the sound box being in a standby state, emitting an ultrasonic signal, and receiving a reflected ultrasonic signal reflected by an external object; acquiring a moving trajectory of the external object according to the reflected ultrasonic signal; and determining a target operation instruction to be executed according to the moving trajectory of the external object.

An object detection apparatus detects a target object present in a periphery of a moving body. The object detection apparatus derives recognition information indicating a state of a target object, and predicts a state of the target object at a next second observation timing, based on the recognition information derived at a first observation timing. The object detection apparatus derives a score based on a degree of difference between a state of the target object observed at the second observation timing and a next state of the target object predicted at the first observation timing. The object detection apparatus derives a reliability level by statistically processing scores related to the target object derived at a plurality of observation timings from past to present. In response to the reliability level satisfying a predetermined reference, the object detection apparatus determines that the target object related to the reliability level is actually present.

The invention relates to the use of sonar acoustic pulses to provide information about the status and composition of aquaculture farming tanks or ponds. In particular, the invention is directed to processes and systems comprising: a acoustic pulse transducer configured to transmit a acoustic pulse into an aquaculture farming tank or pond, a network of underwater sonar signal receivers; a computer connected to the network of underwater sonar signal receivers, said computer having a processor and memory, said memory having computer programming instructions saved thereon and executable on the processor, said computer programming instructions configured for receiving and comparing a signal difference between the acoustic pulse and the scattered return signal and for using the signal difference to output a signal difference data point related to a calculated shrimp biomass and distribution in the aquaculture farming tank or pond; a computer display connected to the computer and configured to display the signal difference data point related the calculated shrimp biomass and distribution.

The invention relates to the use of sonar acoustic pulses to provide information about the status and composition of aquaculture farming tanks or ponds. In particular, the invention is directed to processes and systems comprising: a acoustic pulse transducer configured to transmit a acoustic pulse into an aquaculture farming tank or pond, a network of underwater sonar signal receivers; a computer connected to the network of underwater sonar signal receivers, said computer having a processor and memory, said memory having computer programming instructions saved thereon and executable on the processor, said computer programming instructions configured for receiving and comparing a signal difference between the acoustic pulse and the scattered return signal and for using the signal difference to output a signal difference data point related to a calculated shrimp biomass and distribution in the aquaculture farming tank or pond; a computer display connected to the computer and configured to display the signal difference data point related the calculated shrimp biomass and distribution.

An illustrative example method of tracking an object includes detecting one or more points on the object over time to obtain a plurality of detections, determining a position of each of the detections, determining a relationship between the determined positions, and determining an estimated heading angle of the object based on the relationship.

Certain aspects of the present disclosure provide techniques for sensor calibration. First sensor data is received from a first sensor and second sensor data is received from a second sensor, where the first sensor data and the second sensor data each indicate detected objects in a space. The first sensor data is transformed using a first transformation profile to convert the first sensor data to a coordinate frame of the second sensor data. The first transformation profile is refined based on a difference between the transformed first sensor data and the second sensor data.

The invention generally relates to sonar devices that integrate forward-looking sensors with down-looking echosounders, side scanning sonar, or both. The invention provides a sonar system that includes a forward-looking sonar device that operates in an integrated fashion with one or more other sonar devices so that a boater can have a reliable navigation tool while also using sonar for finding fish and other features on the seafloor. The forward-looking sonar can include a transducer array that takes a three-dimensional acoustic reading of the objects and seafloor ahead. The electronics that process the acoustic data can also process data from down-looking sonar, side-scanning sonar, or both and can integrate the information to present an expansive display in the boat, revealing the contents and the floor of the sea in front of, around, and under the boat.

A vehicle control device is mountable on a vehicle. The vehicle control device includes: a processor; and a memory storing instructions that, when executed by the processor, cause the vehicle control device to perform operations including: acquiring detection information obtained by detecting an obstacle around the vehicle; performing collision determination of evaluating a possibility of collision with the obstacle; generating, based on the detection information, information on an approaching object that is an obstacle approaching the vehicle and information on a detection point indicating an obstacle that does not move; estimating a position of a shielding object based on the information on the detection point; evaluating, based on the position of the shielding object and the information on the approaching object, a ghost likelihood indicating a possibility that the approaching object is a ghost; and excluding, based on the ghost likelihood, the approaching object from the collision determination.