This disclosure describes an apparatus and method of an embodiment of an invention that is improves Direction of Arrival (DOA) determinations. This embodiment of the apparatus includes a plurality of microphones coupled together as a microphone array used for beamforming, the plurality of microphones are positioned at predetermined locations and produce audio signals to be used to form a directional pickup pattern; a processor, memory, storage, and a power supply operably coupled to the microphone array, the processor configured to execute the following steps: processing an algorithm for a Direction of Arrival (DOA) determination; supplemental processing that improves the DOA processing.

An acoustic-based Direction of Arrival (DoA) system uses acoustic information to determine the direction of incoming sound, such as a person talking. The direction of the sound is then used to focus a laser-based time of flight (ToF) system to narrow the area of laser illumination, improving the signal to noise ratio because laser illumination is focused on the direction of the sound. The DoA system also provides elevation information pertaining to the source of the sound, to further narrow the required field of view of the laser ToF system.

Processing sound signals acquired by a microphone, for example an ambisonic type, to locate a sound source in a space including at least one wall. A time-frequency transform is applied to the acquired signals, and, from the acquired signals, a velocity vector, complex with real and imaginary parts, is expressed in the frequency domain, wherein the velocity vector characterizes a composition between: a first acoustic path, direct between the source and the microphone, represented by a first vector; and a second acoustic path resulting from a reflection on the wall and represented by a second vector. The second path has a first delay with respect to the direct path. Depending on the first delay and the first and second vectors, a parameter is determined from among a direction of the direct path, a distance from the source to the microphone, and a distance from the source to said wall.

The present disclosure relates to an acoustic position determination system that includes a mobile communication device and at least one base transmitter unit. The mobile communication device is configured to transmit and receive acoustic signals. Due to relative movements between the mobile communication device and the base transmitter unit, frequencies of the received signals shift due to Doppler effect. The mobile communication device is configured to compensate Doppler frequency shifts in the received acoustic signals prior to performing a deconvolution decoding process. The mobile communication device is further configured to compensate Doppler frequency shifts and perform deconvolution decoding process on acoustic signals received from multiple signal transmission paths.

Systems and methods for presenting marine information are provided herein. A system includes an array of a plurality of sonar transducer elements associated with a watercraft and a display. The system causes presentation of a chart of a body of water, including a representation of the watercraft at a current location. The system also operates the array to cause transmission of sonar beams into the underwater environment and receives sonar return data from the array. The system further generates, based on the sonar return data, a two-dimensional live sonar image, determines a facing direction of the array, and causes presentation of the sonar image in the facing direction on the chart and relative to the representation of the watercraft. Accordingly, live sonar imagery is presented on the chart to visually provide a relationship between objects within the live sonar imagery and the real-world position of those objects.

Systems and methods for presenting marine information are provided herein. A system includes an array of a plurality of sonar transducer elements associated with a watercraft and a display. The system causes presentation of a chart of a body of water, including a representation of the watercraft at a current location. The system also operates the array to cause transmission of sonar beams into the underwater environment and receives sonar return data from the array. The system further generates, based on the sonar return data, a two-dimensional live sonar image, determines a facing direction of the array, and causes presentation of the sonar image in the facing direction on the chart and relative to the representation of the watercraft. Accordingly, live sonar imagery is presented on the chart to visually provide a relationship between objects within the live sonar imagery and the real-world position of those objects.

An acoustic vector sensor and a method of detecting an acoustic vector are described. An object suspended in the fluid medium by a non-contact support structure. The object and the non-contact support structure are configured so that the object moves in response to any disturbance of the fluid by an acoustic wave; The non-contact support structure of the object comprises a plurality of solenoids that each produce a magnetic field in a fluid medium. A measurement measures movement of the object. A processing device determines an acoustic intensity vector of the acoustic wave based on the measured movement of the object.

A system for generating live sonar images is provided having a first and second sonar transducer assembly. The sonar transducer assemblies each have sonar transducer elements configured to transmit sonar beam(s) into an underwater environment to form respective coverage volumes. The sonar transducer assemblies each define a respective facing direction. The system includes bracket(s) having alignment feature(s). The bracket(s) are configured to mount the sonar transducer assemblies to a watercraft, and the alignment feature(s) are configured to position the sonar transducer assemblies so that the facing directions are different and relative to each other so as to create continuous coverage of the underwater environment. Continuous coverage has an overall coverage volume that is greater than either of the coverage volumes individually. Sonar return data from the sonar transducer elements is used to form a live sonar image representative of sonar returns received from the overall coverage volume.

A system for generating live sonar images is provided having a first and second sonar transducer assembly. The sonar transducer assemblies each have sonar transducer elements configured to transmit sonar beam(s) into an underwater environment to form respective coverage volumes. The sonar transducer assemblies each define a respective facing direction. The system includes bracket(s) having alignment feature(s). The bracket(s) are configured to mount the sonar transducer assemblies to a watercraft, and the alignment feature(s) are configured to position the sonar transducer assemblies so that the facing directions are different and relative to each other so as to create continuous coverage of the underwater environment. Continuous coverage has an overall coverage volume that is greater than either of the coverage volumes individually. Sonar return data from the sonar transducer elements is used to form a live sonar image representative of sonar returns received from the overall coverage volume.

Techniques for determining information associated with sounds detected in an environment based on audio data are discussed herein. Audio sensors of a vehicle may determine audio data associated with sounds from the environment. Sounds may be caused by objects in the environment such as emergency vehicles, construction zones, non-emergency vehicles, humans, audio speakers, nature, etc. A model may determine a classification of the audio data and/or a probability value representing a likelihood that sound in the audio data is associated with the classification. A direction of arrival may be determined based on receiving classification values from multiple audio sensors of the vehicle, and other actions can be performed or the vehicle can be controlled based on the direction of arrival.