A method of tracking a known object is presented, wherein a sonar image of an object which is distorted by an artifact associated with sonar imaging is compared with an image generated from a model of the object, and at least one of the two images is modified to reduce differences between them.

A sonar system comprising a sonar transmitter, a very large array two dimensional sonar receiver, and a beamformer section transmits a series of sonar pings into an insonified volume of fluid at a rate greater than 5 pings per second, receives sonar signals reflected and scattered from objects in the insonified volume, and beamforms the reflected signals to provide a video presentation and/or to store the beamformed data for later use. The parameters controlling the sonar system are changed between pings to provide enhanced video imaging.

A sonar system comprising a sonar transmitter, a very large array two dimensional sonar receiver, and a beamformer section transmits a series of sonar pings into an ensonified volume of fluid at a rate greater than 5 pings per second, receives sonar signals reflected and scattered from objects in the ensonified volume, and beamforms the reflected signals to provide a video presentation and/or to store the beamformed data for later use. The parameters controlling the sonar system are changed so that the beamformer section treats the data from the receiver section with more than one set of parameters per ping and/or neighboring pings. The stream of data is treated either in parallel or in series by different beamforming methods so that at least one beam from the beamformer has more than one value.

A method of real time three dimensional (3D) sonar imaging is disclosed, where large array of sonar signal detectors images an underwater object and electromagnetic measuring means fixed in a known position with respect to the large array of sonar detectors measure the position of an above water object which has a known position with respect to the underwater object. The position of the sonar detector may be corrected to give a stable image of the underwater object from ping to ping of the sonar imaging system.

A sonar system comprising a sonar transmitter, a very large array two dimensional sonar receiver, and a beamformer section transmits a series of sonar pings into an ensonified volume of fluid at a rate greater than 5 pings per second, receives sonar signals reflected and scattered from objects in the ensonified volume, and beamforms the reflected signals to provide a video presentation and/or to store the beamformed data for later use. The parameters controlling the sonar system are changed so that the beamformer section treats the data from the receiver section with more than one set of parameters. The stream of data is treated either in parallel or in series by different beamforming methods so that at least one beam from the beamformer has more than one value.

An apparatus for providing marine information is provided including a user interface, a processor, and a memory including computer program code. The memory and the computer program code are configured to, with the processor, cause the apparatus to generate a sonar image based on sonar return data received from an underwater environment, determine a location associated with the sonar return data based on location data received from one or more position sensors, and render a nautical chart on a display. The computer program code is further configured to cause the apparatus to receive a user input on the user interface directed to a portion of the display in which the nautical chart is presented, and modify presentation of the nautical chart such that the portion of the display presents the sonar image in response to receiving the user input.

Generally, a scanning device performs a sonic scan of a space by generating an ultrasonic impulse and measuring reflected signals as raw audio data. Sonic scan data including raw audio data and an associated scan location is forwarded to a sonic mapping service, which generates and distributes a 3D map of the space called a sonic map. When multiple devices contribute, the map is a collaborative sonic map. The sonic mapping service is advantageously available as distributed computing service, and can detect acoustic characteristics of the space and/or attribute visual/audio features to elements of a 3D model based on a corresponding detected acoustic characteristic. Various implementations that utilize a sonic map, detected acoustic characteristics, an impacted visual map, and/or an impacted 3D object include mixed reality communications, automatic calibration, relocalization, visualizing materials, rendering 3D geometry, and the like.

Reflected sonar signals arising from one or more possible unknown objects are distinguished according to a first criterion, and possible shapes each having a defined unique associated point are assigned each of the possible unknown objects. Then the three dimensional points are tracked by the sonar system.

A method of tracking a known object is presented, wherein a sonar image of an object which is distorted by an artifact associated with sonar imaging is compared with an image generated from a model of the object, and at least one of the two images is modified to reduce differences between them.

An underwater detection apparatus is provided which includes a transmission transducer, a reception transducer, and a motor. The transmission transducer transmits a transmission wave within a given fan-shaped transmission space, the fan-shaped transmission space having a first transmission width in a given first plane and a second transmission width in a second plane perpendicular to the first plane. The reception transducer receives, as a reception wave, a reflection wave of the transmission wave within a given fan-shaped reception space, the fan-shaped reception space having a first reception width in the first plane and a second reception width in the second plane, the second reception width being wider than the second transmission width, and in the second plane, the fan-shaped transmission space being within the fan-shaped reception space. The motor rotates the fan-shaped transmission space and the fan-shaped reception space.