In some implementations, a method includes collecting a first set of sensor data comprising a pressure time series and at least two velocity time series collected from at least two horizontal axes, wherein the first set of sensor data is obtained from a first acoustic vector sensor; generating an azigram from the first set of sensor data obtained from the first acoustic vector sensor; generating a histogram based on the azigram; generating a first set of azimuthal estimates derived from one or more maxima of the histogram; performing azigram thresholding to generate a first set of binary images for the first set of azimuthal estimates; and transmitting the first set of binary images and the first set of azimuthal estimates to a centralized processing unit to enable object localization. Related systems, methods, and articles of manufacture are also disclosed.

In some implementations, a method includes collecting a first set of sensor data comprising a pressure time series and at least two velocity time series collected from at least two horizontal axes, wherein the first set of sensor data is obtained from a first acoustic vector sensor; generating an azigram from the first set of sensor data obtained from the first acoustic vector sensor; generating a histogram based on the azigram; generating a first set of azimuthal estimates derived from one or more maxima of the histogram; performing azigram thresholding to generate a first set of binary images for the first set of azimuthal estimates; and transmitting the first set of binary images and the first set of azimuthal estimates to a centralized processing unit to enable object localization. Related systems, methods, and articles of manufacture are also disclosed.

Techniques are disclosed for systems and methods to provide reliable and relatively quick bottom reacquisition in sonar systems for mobile structures, including three dimensional (3D) capable and/or multichannel sonar systems. A sonar system includes a sonar transducer and associated processing and control electronics and optionally orientation and/or position sensors disposed substantially within the housing of a sonar transducer assembly. A logic device of the sonar system is configured to detect bottom lock loss based, at least in part, on sonar data provided by the sonar transducer, determine an expected bottom depth associated with the detected bottom lock loss, and generate updated sonar data based, at least in part, on the expected bottom depth. Resulting sonar data and/or imagery may be displayed to a user and/or used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.

Techniques are disclosed for systems and methods to provide reliable and relatively quick bottom reacquisition in sonar systems for mobile structures, including three dimensional (3D) capable and/or multichannel sonar systems. A sonar system includes a sonar transducer and associated processing and control electronics and optionally orientation and/or position sensors disposed substantially within the housing of a sonar transducer assembly. A logic device of the sonar system is configured to detect bottom lock loss based, at least in part, on sonar data provided by the sonar transducer, determine an expected bottom depth associated with the detected bottom lock loss, and generate updated sonar data based, at least in part, on the expected bottom depth. Resulting sonar data and/or imagery may be displayed to a user and/or used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.