Computer-implemented techniques for multi-modal aquatic biomass estimation includes determining a fish mass measurement, a fish count, or a direct fish biomass estimate from a sample of one or more digital images or digital video captured by a digital camera immersed underwater in a fish farm enclosure. A technique further includes determining a plurality of fish densities for a plurality of water volumes within the fish farm enclosure based on analysis of signals received from a plurality of bias estimation sensors immersed underwater in the fish farm enclosure. The technique also includes computing a bias-adjusted fish mass measurement, fish count, or direct fish biomass estimate for the fish farm enclosure based on (i) the fish mass measurement, the fish count, or the direct fish biomass estimate determined from the sample of one or more digital images or digital video captured by the digital camera immersed underwater in the fish farm enclosure and (ii) the plurality of fish densities determined for the plurality of water volumes.

Many different types of systems are utilized or tasks are performed in a marine environment. The present invention provides various configurations of unmanned vehicles, or drones, that can be operated and/or controlled for such systems or tasks. One or more unmanned vehicles can be integrated with a dedicated marine electronic device of a marine vessel for autonomous control and operation. Additionally or alternatively, the unmanned vehicle can be manually remote operated during use in the marine environment. Such unmanned vehicles can be utilized in many different marine environment systems or tasks, including, for example, navigation, sonar, radar, search and rescue, video streaming, alert functionality, among many others. However, as contemplated by the present invention, the marine environment provides many unique challenges that may be accounted for with operation and control of an unmanned vehicle.

Many different types of systems are utilized or tasks are performed in a marine environment. The present invention provides various configurations of unmanned vehicles, or drones, that can be operated and/or controlled for such systems or tasks. One or more unmanned vehicles can be integrated with a dedicated marine electronic device of a marine vessel for autonomous control and operation. Additionally or alternatively, the unmanned vehicle can be manually remote operated during use in the marine environment. Such unmanned vehicles can be utilized in many different marine environment systems or tasks, including, for example, navigation, sonar, radar, search and rescue, video streaming, alert functionality, among many others. However, as contemplated by the present invention, the marine environment provides many unique challenges that may be accounted for with operation and control of an unmanned vehicle.

Sonar systems and related methods are provided. A sonar system includes a transducer array having a transverse axis and a longitudinal axis disposed perpendicularly thereto. A processor is operative to associate signals with a plurality of transducers in the transducer array so as to form a first acoustic beam, which propagates in a beam first direction and has a first beam width in a first transverse plane. The first transverse plane extends along the beam first direction and contains the transverse axis of the transducer array. A beam spreading device having a curved surface is positioned relative to the transducer array such that the first acoustic beam impinges on the curved surface. Following impingement on the curved surface, the first acoustic beam propagates in a beam second direction and has a second beam width in a second transverse plane. The second beam width is greater than the first beam width.

Sonar systems and related methods are provided. A sonar system includes a transducer array having a transverse axis and a longitudinal axis disposed perpendicularly thereto. A processor is operative to associate signals with a plurality of transducers in the transducer array so as to form a first acoustic beam, which propagates in a beam first direction and has a first beam width in a first transverse plane. The first transverse plane extends along the beam first direction and contains the transverse axis of the transducer array. A beam spreading device having a curved surface is positioned relative to the transducer array such that the first acoustic beam impinges on the curved surface. Following impingement on the curved surface, the first acoustic beam propagates in a beam second direction and has a second beam width in a second transverse plane. The second beam width is greater than the first beam width.

An ultrasonic detecting device may include a transmitter, a receiver, a motor, and processing circuitry. The transmitter may transmit a sequence including a first pulse wave and a second pulse wave separated by a time interval shorter than a time required for an ultrasonic wave to make a round trip underwater to a detection range. The receiver may convert reflection waves of the first and second pulse waves into echo signals. The motor may rotate the receiver. The processing circuitry may acquire, from the echo signals, a first echo signal and a second echo signal, generate first image data based on the first echo signals and second image data based on the second echo signals, and generate synthesized image data based on an angular position of the receiver when the first image data is generated, and an angular position of the receiver when the second image data is generated.

Many different types of systems are utilized or tasks are performed in a marine environment. The present invention provides various configurations of unmanned vehicles, or drones, that can be operated and/or controlled for such systems or tasks. One or more unmanned vehicles can be integrated with a dedicated marine electronic device of a marine vessel for autonomous control and operation. Additionally or alternatively, the unmanned vehicle can be manually remote operated during use in the marine environment. Such unmanned vehicles can be utilized in many different marine environment systems or tasks, including, for example, navigation, sonar, radar, search and rescue, video streaming, alert functionality, among many others. However, as contemplated by the present invention, the marine environment provides many unique challenges that may be accounted for with operation and control of an unmanned vehicle.

Many different types of systems are utilized or tasks are performed in a marine environment. The present invention provides various configurations of unmanned vehicles, or drones, that can be operated and/or controlled for such systems or tasks. One or more unmanned vehicles can be integrated with a dedicated marine electronic device of a marine vessel for autonomous control and operation. Additionally or alternatively, the unmanned vehicle can be manually remote operated during use in the marine environment. Such unmanned vehicles can be utilized in many different marine environment systems or tasks, including, for example, navigation, sonar, radar, search and rescue, video streaming, alert functionality, among many others. However, as contemplated by the present invention, the marine environment provides many unique challenges that may be accounted for with operation and control of an unmanned vehicle.

Example steering control systems for multiple devices are provided herein. A system includes a trolling motor assembly having a propulsion motor and a steering actuator and a sonar assembly comprising a transducer assembly and a directional actuator. The system further includes a user input assembly that is configured to detect user activity related to controlling operation of the trolling motor assembly and operation of the sonar assembly. The system further includes a processor that is configured to determine a direction of turn based on user activity, generate an electrical turning input signal indicating the direction of turn, and direct one of the steering actuator and the directional actuator, via the turning input signal, to rotate one of the propulsion motor and the transducer assembly, respectively, in a direction of turn based on the turning input signal.

Fish finding devices, systems and methods, in accordance with the present disclosure comprise a sonar transmitter for transmitting a sonar signal, a sonar receiver for receiving a sonar echo from the reflection of the sonar signal off a marine animal, an underwater camera, a processor for controlling the sonar transmitter, the sonar receiver and the underwater camera, and for processing the sonar echo, and a housing containing the processor and further comprising a display. By combining the forgoing into a single fish finding system, “false positives” are reduced and have the capability of more accurately identifying desired marine animals that are located.