Linear and circular downscan imaging sonar

• US 9,223,022 B2
• Filed: 09/26/2012
• Issued: 12/29/2015
• Est. Priority Date: 07/14/2009
• Status: Active Grant

• Current Assignee: Navico Incorporated (Brunswick Corporation)
• Original Assignee: Navico Holding A.S. (Brunswick Corporation)
• Inventors: Coleman, Aaron, Hanoch, Jeffrey W., Maguire, Brian
• Primary Examiner(s): HULKA, JAMES R
• Application Number:
  US13/627,546
• Publication Number:
  US 20150253425A1
• Time in Patent Office: 1,189 Days
• Field of Search: 367/88
• US Class Current: 1/1
• CPC Class Codes: G01S 15/02 using reflection of acoustic waves G01S15/66 takes precedence
• CPC Class Codes: G01S 15/87 Combinations of sonar systems
• CPC Class Codes: G01S 15/89 for mapping or imaging
• CPC Class Codes: G01S 15/8902 Side-looking sonar
• CPC Class Codes: G01S 7/04 Display arrangements
• CPC Class Codes: G01S 7/52 of systems according to group G01S15/00
• CPC Class Codes: G03B 17/08 Waterproof bodies or housings
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04W 4/02 Services making use of location information

Abstract

A method for providing a combined linear and circular downscan sonar display may include receiving linear downscan sonar data from a linear downscan transducer, receiving conical downscan sonar data from a circular downscan transducer, and combining the linear downscan sonar data and the conical downscan sonar data to produce combined downscan sonar data. A corresponding computer program product and apparatus are also provided.

Claims

1. A sonar apparatus comprising:

a sonar transducer assembly for imaging an underwater environment beneath a watercraft, the sonar transducer assembly comprising;

a housing mountable to the watercraft;

a linear downscan transducer element positioned within the housing, the linear downscan transducer element having a substantially rectangular shape configured to produce a fan-shaped sonar beam having a relatively narrow beamwidth in a direction parallel to a longitudinal length of the linear downscan transducer element and a relatively wide beamwidth in a direction perpendicular to the longitudinal length of the transducer element, the linear downscan transducer element being positioned with the longitudinal length thereof extending in a fore-to-aft direction of the housing, wherein the linear downscan transducer element is positioned within the housing to project fan-shaped sonar beams directly beneath the watercraft; and

a second downscan transducer element positioned within the housing, the second downscan transducer element being configured to produce a generally conical beam that is wider than the fan-shaped sonar beam in a direction parallel to a longitudinal length of the linear downscan transducer element, wherein the second downscan transducer element is positioned within the housing to project conical beams directly beneath the watercraft.

2. The sonar apparatus of claim 1, further comprising a sonar signal processor configured to:

receive linear downscan sonar data based on sonar returns from the fan-shaped sonar beams produced by the linear downscan transducer element;

receive conical downscan sonar data based on sonar returns from the generally conical beams produced by the second downscan transducer element;

combine the linear downscan sonar data and the conical downscan sonar data to produce combined downscan sonar data; and

render the combined downscan sonar data as at least one image on a display.

3. The sonar apparatus of claim 2, wherein the sonar signal processor is configured to receive the linear downscan sonar data and the conical downscan sonar data corresponding to respective underwater regions that at least partially overlap.

4. The sonar apparatus of claim 2, wherein the sonar signal processor is configured to combine the linear downscan sonar data and the conical downscan sonar data to be displayable in a single display window.

5. The sonar apparatus of claim 2, wherein the sonar signal processor is further configured to synchronize the linear downscan sonar data and the conical downscan sonar data prior to the combining.

6. The sonar apparatus of claim 5, wherein the sonar signal processor is configured to synchronize the linear downscan sonar data and the conical downscan sonar data and to utilize a predetermined interval of linear downscan transmissions from the linear downscan transducer as a reference for synchronization with the conical downscan sonar data.

7. The sonar apparatus of claim 5, wherein the sonar signal processor is configured to synchronize the linear downscan sonar data and the conical downscan sonar data and to utilize a predetermined interval of downscan transmissions from the second downscan transducer as a reference for synchronization with the linear downscan sonar data.

8. The sonar apparatus of claim 5, wherein the sonar signal processor is configured to synchronize the linear downscan sonar data and the conical downscan sonar data and to utilize a predetermined time interval as a reference for synchronization.

9. The sonar apparatus of claim 2, wherein the sonar signal processor is configured to combine the linear downscan sonar data and the conical downscan sonar data to render base data corresponding to one of the linear downscan sonar data or the conical downscan sonar data and render overlay data corresponding to the other of the linear downscan sonar data or the conical downscan sonar data over the base data.

10. The sonar apparatus of claim 9, wherein the sonar signal processor is configured to render overlay data corresponding to the other of the linear downscan sonar data or the conical downscan sonar data over the base data and apply a level mask to the overlay data and render only data above a predefined threshold associated with the level mask as the overlay data.

11. The sonar apparatus of claim 2, wherein the sonar signal processor is configured to combine the linear downscan sonar data and the conical downscan sonar data and blend the linear downscan sonar data with the conical downscan sonar data and render the blended data.

12. The sonar apparatus of claim 11, wherein the sonar signal processor is configured to blend the linear downscan sonar data with the conical downscan sonar data, apply a first weighting factor to the linear downscan sonar data to produce first weighted data, apply a second weighting factor to the conical downscan sonar data to produce second weighted data, and to combine the first weighted data and second weighted data into combined weighted data and render the combined weighted data.

13. The sonar apparatus of claim 2, wherein the sonar signal processor is configured to combine the linear downscan sonar data and the conical downscan sonar data to:

form first data columns of the conical downscan sonar data;

form second data columns of the linear downscan sonar data corresponding to each of the first data columns; and

render base data from one of the first data columns or the second data columns and render at least a portion of overlay data from the other of the first data columns or the second data columns over the base data.

14. The sonar apparatus of claim 13, wherein the sonar signal processor is configured to form the second data columns to store a plurality of linear downscan sonar data columns corresponding to each of the first data columns and merge the plurality of linear downscan sonar data columns to produce one second data column corresponding to each first data column.

15. The sonar apparatus of claim 2, wherein the sonar signal processor is configured to combine the linear downscan sonar data and the conical downscan sonar data to combine the linear downscan sonar data and the conical downscan sonar data based on a user selected sensitivity.

16. The sonar apparatus of claim 2, wherein the sonar signal processor is further configured to render the combined downscan sonar data in the single display window such that return data corresponding to the linear downscan sonar data is provided with a first color scheme and return data corresponding to the conical downscan sonar data is provided with a second color scheme.

17. The sonar apparatus of claim 16, wherein the sonar signal processor is configured to render the combined downscan sonar data to enable user selection of a color palette for return data corresponding to the linear downscan sonar data with a first color scheme and return data corresponding to the conical downscan sonar data with a second color scheme.

18. The sonar apparatus of claim 16, wherein the sonar signal processor is configured to render the combined downscan sonar data to enable user selection of a color palette for return data corresponding to the linear downscan sonar data with a first shading or cross-hatching scheme and return data corresponding to the conical downscan sonar data with a second shading or cross-hatching scheme.

19. The sonar apparatus of claim 2, wherein the sonar signal processor is further configured to enable user selection of a rendering option to:

render only the conical downscan sonar data in a single display window;

render only the linear downscan sonar data in the single display window;

render only the combined downscan sonar data in the single display window;

render the conical downscan sonar data, the linear downscan sonar data and the combined downscan sonar data each in respective different display windows;

render the conical downscan sonar data and the linear downscan sonar data each in respective different display windows;

or

render one of the conical downscan sonar data or the linear downscan sonar data with the combined downscan sonar data such that the combined downscan sonar data and the one of the conical downscan sonar data or the linear downscan sonar data are each provided in respective different display windows.

20. The sonar apparatus of claim 2, wherein the sonar signal processor is part of a sonar module in a single housing.

21. The sonar apparatus of claim 2, further comprising a display configured to display images representing sonar signals.

22. The sonar apparatus of claim 21, wherein the display is configured to render different images on the same display.

23. The sonar apparatus of claim 1, further comprising a display and a sonar module including a sonar signal processor, the display and the sonar module being within a same housing.

24. The sonar apparatus of claim 23, wherein the display is configured to render data from sources of data including at least one of the group of radar, GPS, digital mapping, time and temperature.

25. The sonar apparatus of claim 23, wherein a display format for the display is user selectable.

26. The sonar apparatus of claim 1, wherein the linear downscan transducer element is configured to provide data indicative of one or more of depth, water column features and bottom features.

27. The sonar apparatus of claim 1, wherein the linear downscan transducer element and the second downscan transducer element are configured to provide data simultaneously.

28. The sonar apparatus of claim 1, wherein the linear downscan transducer is configured to transmit sonar pulses across multiple frequencies.

29. The sonar apparatus of claim 1, wherein the second downscan transducer is configured to transmit sonar pulses across multiple frequencies.

30. The sonar apparatus of claim 1, wherein the linear downscan transducer is configured to transmit sonar pulses across a range of frequencies.

31. The sonar apparatus of claim 1, wherein the second downscan transducer is configured to transmit sonar pulses across a range of frequencies.

32. The sonar apparatus of claim 1, further comprising a sonar signal processor configured to:

receive linear downscan sonar data based on sonar returns from the fan-shaped sonar beams produced by the linear downscan transducer element;

receive conical downscan sonar data based on sonar returns from the generally conical beams produced by the second downscan transducer element; and

render at least one of linear downscan sonar data or conical downscan sonar data on a display.

33. The sonar apparatus of claim 32, wherein the sonar signal processor is further configured to:

render linear downscan sonar data on one portion of the display; and

render conical downscan sonar data on another portion of the display.

34. The sonar apparatus of claim 33, wherein the sonar signal processor is configured to render the linear downscan sonar data and the conical downscan sonar data side-by-side on the display.

42. The sonar apparatus of claim 32, wherein the linear downscan sonar data and the conical downscan sonar data represent sonar returns from the same regions beneath the watercraft.

43. The sonar apparatus of claim 32, wherein the linear downscan sonar data and the conical downscan sonar data represent sonar returns from regions beneath the watercraft that at least partially overlap.

44. The sonar apparatus of claim 32, wherein the sonar signal processor is further configured to:

render the linear downscan sonar data in a first color scheme; and

render the conical downscan sonar data in a second color scheme.

45. The sonar apparatus of claim 32, wherein the linear downscan transducer element and the second downscan transducer element are configured to provide data to the sonar signal processor simultaneously.

46. The sonar apparatus of claim 32, wherein the sonar signal processor is further configured to:

render at least one of linear downscan sonar data or conical downscan sonar data on one portion of the display; and

render a nautical chart on another portion of the display.

47. The sonar apparatus of claim 32, wherein the sonar signal processor is further configured to render at least one data box on the display, wherein the data box comprises at least one of speed data, depth data, temperature data, position data, or time data.

48. The sonar apparatus of claim 1, wherein the second downscan transducer element is mounted in the housing in line with the longitudinal length of the linear downscan transducer element.

49. The sonar apparatus of claim 48, wherein the second downscan transducer element and the linear downscan transducer element are mounted in line with the longitudinal axis of the housing.

50. The sonar apparatus of claim 1, wherein the sonar transducer assembly further comprises an additional downscan transducer element positioned within the housing, wherein the additional downscan transducer element is a linear transducer element configured to produce a fan-shaped sonar beam, wherein the additional downscan transducer element is positioned within the housing to project the fan-shaped sonar beam directly beneath the watercraft.

51. The sonar apparatus of claim 50, wherein the linear downscan transducer element and the additional downscan transducer element are positioned end to end within the housing.

52. The sonar apparatus of claim 51, wherein the linear downscan transducer element and the additional downscan transducer element are electrically connected.

53. The sonar apparatus of claim 1, wherein the linear downscan transducer element comprises at least a first linear transducer element segment and a second linear transducer element segment.

54. The sonar apparatus of claim 53, wherein the first linear transducer element segment and the second linear transducer element segment are electrically connected and positioned end-to-end within the housing.

35. A sonar system comprising:

a sonar transducer assembly for imaging an underwater environment beneath a watercraft, the sonar transducer assembly comprising;

a housing mountable to the watercraft;

a linear downscan transducer element positioned within the housing, the linear downscan transducer element having a substantially rectangular shape configured to produce a fan-shaped sonar beam having a relatively narrow beamwidth in a direction parallel to a longitudinal length of the linear downscan transducer element and a relatively wide beamwidth in a direction perpendicular to the longitudinal length of the transducer element, the linear downscan transducer element being positioned with the longitudinal length thereof extending in a fore-to-aft direction of the housing, wherein the linear downscan transducer element is positioned within the housing to project fan-shaped sonar beams directly beneath the watercraft; and

a second downscan transducer element positioned within the housing, the second downscan transducer element being configured to produce a generally conical beam that is wider than the fan-shaped sonar beam in a direction parallel to a longitudinal length of the linear downscan transducer element, wherein the second downscan transducer element is positioned within the housing to project conical beams directly beneath the watercraft;

a sonar signal processor configured to;

receive linear downscan sonar data based on sonar returns from the fan-shaped sonar beams produced by the linear downscan transducer element;

receive conical downscan sonar data based on sonar returns from the generally conical beams produced by the second downscan transducer element; and

a display, wherein the sonar signal processor is configured to render at least one of linear downscan sonar data or conical downscan sonar data on the display.

36. The sonar system of claim 35, wherein the sonar signal processor is further configured to:

render linear downscan sonar data on one portion of the display; and

render conical downscan sonar data on another portion of the display.

37. The sonar system of claim 36, wherein the sonar signal processor is further configured to render the linear downscan sonar data and the conical downscan sonar data side-by-side on the display.

38. The sonar system of claim 35, wherein the linear downscan transducer is configured to transmit sonar pulses across multiple frequencies.

39. The sonar system of claim 35, wherein the second downscan transducer is configured to transmit sonar pulses across multiple frequencies.

40. The sonar system of claim 35, wherein the linear downscan transducer is configured to transmit sonar pulses across a range of frequencies.

41. The sonar system of claim 35, wherein the second downscan transducer is configured to transmit sonar pulses across a range of frequencies.

55. The sonar system of claim 35, wherein the linear downscan sonar data and the conical downscan sonar data represent sonar returns from the same regions beneath the watercraft.

56. The sonar system of claim 35, wherein the linear downscan sonar data and the conical downscan sonar data represent sonar returns from regions beneath the watercraft that at least partially overlap.

57. The sonar system of claim 35, wherein the sonar signal processor is further configured to:

render the linear downscan sonar data in a first color scheme; and

render the conical downscan sonar data in a second color scheme.

58. The sonar system of claim 35, wherein the linear downscan transducer element and the second downscan transducer element are configured to provide data to the sonar signal processor simultaneously.

59. The sonar system of claim 35, wherein the sonar signal processor is further configured to:

render at least one of linear downscan sonar data or conical downscan sonar data on one portion of the display; and

render a nautical chart on another portion of the display.

60. The sonar system of claim 35, wherein the sonar signal processor is further configured to render at least one data box on the display, wherein the data box comprises at least one of speed data, depth data, temperature data, position data, or time data.

61. The sonar system of claim 35, wherein the second downscan transducer element is mounted in the housing in line with the longitudinal length of the linear downscan transducer element.

62. The sonar system of claim 61, wherein the second downscan transducer element and the linear downscan transducer element are mounted in line with the longitudinal axis of the housing.

63. The sonar system of claim 35, wherein the sonar transducer assembly further comprises an additional downscan transducer element positioned within the housing, wherein the additional downscan transducer element is a linear transducer element configured to produce a fan-shaped sonar beam, wherein the additional downscan transducer element is positioned within the housing to project the fan-shaped sonar beam directly beneath the watercraft.

64. The sonar system of claim 63, wherein the linear downscan transducer element and the additional downscan transducer element are positioned end to end within the housing.

65. The sonar system of claim 64, wherein the linear downscan transducer element and the additional downscan transducer element are electrically connected.

66. The sonar system of claim 35, wherein the linear downscan transducer element comprises at least a first linear transducer element segment and a second linear transducer element segment.

67. The sonar system of claim 66, wherein the first linear transducer element segment and the second linear transducer element segment are electrically connected and positioned end-to-end within the housing.

68. A method for imaging an underwater environment beneath a watercraft, the method comprising:

producing a fan-shaped sonar beam from a linear downscan transducer element positioned within a housing mounted to the watercraft, wherein the linear downscan transducer element defines a substantially rectangular shape, wherein the fan-shaped sonar beam defines a relatively narrow beamwidth in a direction parallel to a longitudinal length of the linear downscan transducer element and a relatively wide beamwidth in a direction perpendicular to the longitudinal length of the transducer element, the linear downscan transducer element being positioned with the longitudinal length thereof extending in a fore-to-aft direction of the housing, wherein the linear downscan transducer element is positioned within the housing to project fan-shaped sonar beams directly beneath the watercraft;

producing a generally conical beam from a second downscan transducer element positioned within the housing, the conical beam being wider than each fan-shaped sonar beam in a direction parallel to a longitudinal length of the linear downscan transducer element, wherein the second downscan transducer element is positioned within the housing to project conical beams directly beneath the watercraft;

receiving linear downscan sonar data based on sonar returns from the fan-shaped sonar beams produced by the linear downscan transducer element;

receiving conical downscan sonar data based on sonar returns from the generally conical beams produced by the second downscan transducer element; and

rendering at least one of the linear downscan sonar data or the conical downscan sonar data on a display.