Linear and circular downscan imaging sonar

• US 8,300,499 B2
• Filed: 07/14/2009
• Issued: 10/30/2012
• Est. Priority Date: 07/14/2009
• Status: Active Grant

• Current Assignee: Navico Incorporated (Brunswick Corporation)
• Original Assignee: Navico Incorporated (Brunswick Corporation)
• Inventors: Coleman, Aaron R., Hanoch, Jeffrey W., Maguire, Brian T.
• Primary Examiner(s): Alsomiri, Isam
• Assistant Examiner(s): HULKA, JAMES R
• Application Number:
  US12/460,093
• Publication Number:
  US 20110013484A1
• Time in Patent Office: 1,204 Days
• Field of Search: 367/87, 367/88
• US Class Current: 367/88
• 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 method comprising:

receiving linear downscan sonar data based on sonar returns from a series of fan-shaped beams produced sequentially by a linear downscan transducer mounted on a watercraft, the series of fan-shaped beams insonifying different fan-shaped regions of an underwater environment beneath the watercraft as the watercraft travels;

receiving conical downscan sonar data based on sonar returns from a generally conical beam produced by a second downscan transducer, wherein the conical beam is wider than each fan-shaped beam in a direction parallel to a longitudinal length of the linear downscan transducer;

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

rendering the combined downscan sonar data as at least one image on a display, the at least one image including a composite of images of the fan-shaped regions arranged in a progressive order corresponding to the travel of the watercraft.

2. The method of claim 1, wherein receiving the linear downscan sonar data and receiving the conical downscan sonar data comprises receiving the linear downscan sonar data and the conical downscan sonar data corresponding to respective underwater regions that at least partially overlap.

3. The method of claim 1, wherein combining the linear downscan sonar data and the conical downscan sonar data comprises producing the combined downscan sonar data to be displayable in a single display window.

4. The method of claim 1, further comprising synchronizing the linear downscan sonar data and the conical downscan sonar data prior to the combining.

5. The method of claim 4, wherein synchronizing the linear downscan sonar data and the conical downscan sonar data comprises utilizing a predetermined interval of linear downscan transmissions from the linear downscan transducer as a reference for synchronization with the conical downscan sonar data.

6. The method of claim 4, wherein synchronizing the linear downscan sonar data and the conical downscan sonar data comprises utilizing a predetermined interval of downscan transmissions from the second downscan transducer as a reference for synchronization with the linear downscan sonar data.

7. The method of claim 4, wherein synchronizing the linear downscan sonar data and the conical downscan sonar data comprises utilizing a predetermined time interval as a reference for synchronization.

8. The method of claim 1, wherein the rendering step comprises rendering base data corresponding to one of the linear downscan sonar data or the conical downscan sonar data and rendering overlay data corresponding to the other of the linear downscan sonar data or the conical downscan sonar data over the base data.

9. The method of claim 8, wherein rendering overlay data corresponding to the other of the linear downscan sonar data or the conical downscan sonar data over the base data comprises applying a level mask to the overlay data and rendering only data above a predefined threshold associated with the level mask as the overlay data.

10. The method of claim 1, wherein combining the linear downscan sonar data and the conical downscan sonar data comprises blending the linear downscan sonar data with the conical downscan sonar data and rendering the blended data.

11. The method of claim 10, wherein blending the linear downscan sonar data with the conical downscan sonar data comprises applying a first weighting factor to the linear downscan sonar data to produce first weighted data and applying a second weighting factor to the conical downscan sonar data to produce second weighted data and wherein rendering the blended data comprises combining the first weighted data and second weighted data into combined weighted data and rendering the combined weighted data.

12. The method of claim 1, wherein combining the linear downscan sonar data and the conical downscan sonar data comprises:

forming first data columns of the conical downscan sonar data;

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

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

13. The method of claim 12, wherein forming the second data columns comprises storing a plurality of linear downscan sonar data columns corresponding to each of the first data columns and merging the plurality of linear downscan sonar data columns to produce one second data column corresponding to each first data column.

14. The method of claim 13, wherein merging the plurality of linear downscan sonar data columns to produce one second data column corresponding to each first data column comprises selecting a largest value for each corresponding segment of the plurality of linear downscan sonar data columns and storing the largest value for each segment to form a corresponding second data column.

15. The method of claim 13, wherein merging the plurality of linear downscan sonar data columns to produce one second data column corresponding to each first data column comprises averaging values for each corresponding segment of the plurality of linear downscan sonar data columns and storing an average value for each segment to form a corresponding second data column.

16. The method of claim 1, wherein combining the linear downscan sonar data and the conical downscan sonar data comprises combining the linear downscan sonar data and the conical downscan sonar data based on a user selected sensitivity.

17. The method of claim 1, further comprising rendering the combined downscan sonar data in a 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.

18. The method of claim 17, wherein rendering the combined downscan sonar data comprises enabling user selection of a color palette for displaying return data corresponding to the linear downscan sonar data with a first color scheme and displaying return data corresponding to the conical downscan sonar data with a second color scheme.

19. The method of claim 1, further comprising enabling user selection of a rendering option corresponding to one of:

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

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

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

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

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

or

rendering 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 method of claim 1, wherein the rendering step comprises creating linear downscan image data based on the linear downscan sonar data, creating conical downscan image data based on the conical downscan sonar data, and displaying both the linear downscan image data and the conical downscan sonar data for a same region beneath the watercraft.

21. The method of claim 20, wherein the linear downscan image data for said same region is displayed in a first window on a display and the conical downscan sonar data for said same region is displayed in a second window on the display.

22. The method of claim 20, wherein the linear downscan image data for said same region and the conical downscan sonar data for said same region are displayed overlaid on the display.

23. The method of claim 1, wherein the linear transducer is mounted on the watercraft with the longitudinal length of the linear transducer oriented substantially parallel to a fore-to-aft direction of the watercraft.

24. A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code portions stored therein, the computer-executable program code portions comprising:

program code instructions for receiving linear downscan sonar data based on sonar returns from a series of fan-shaped beams produced sequentially by a linear downscan transducer mounted on a watercraft, the series of fan-shaped beams insonifying different fan-shaped regions of an underwater environment beneath the watercraft as the watercraft travels;

program code instructions for receiving conical downscan sonar data based on sonar returns from a generally conical beam produced by a second downscan transducer, wherein the conical beam is wider than each fan-shaped beam in a direction parallel to a longitudinal length of the linear downscan transducer;

program code instructions for combining the linear downscan sonar data and the conical downscan sonar data to produce combined downscan sonar data; and

program code instructions for rendering the combined downscan sonar data as at least one image on a display, the at least one image including a composite of images of the fan-shaped regions arranged in a progressive order corresponding to the travel of the watercraft.

25. The computer program product of claim 24, wherein program code instructions for receiving the linear downscan sonar data and receiving the conical downscan sonar data include instructions for receiving the linear downscan sonar data and the conical downscan sonar data corresponding to respective underwater regions that at least partially overlap.

26. The computer program product of claim 24, wherein program code instructions for combining the linear downscan sonar data and the conical downscan sonar data includes instructions for producing the combined downscan sonar data to be displayable in a single display window.

27. The computer program product of claim 24, further comprising program code instructions for synchronizing the linear downscan sonar data and the conical downscan sonar data prior to the combining.

28. The computer program product of claim 27, wherein program code instructions for synchronizing the linear downscan sonar data and the conical downscan sonar data include instructions for utilizing a predetermined interval of linear downscan transmissions from the linear downscan transducer as a reference for synchronization with the conical downscan sonar data.

29. The computer program product of claim 27, wherein program code instructions for synchronizing the linear downscan sonar data and the conical downscan sonar data include instructions for utilizing a predetermined interval of downscan transmissions from the second downscan transducer as a reference for synchronization with the linear downscan sonar data.

30. The computer program product of claim 27, wherein program code instructions for synchronizing the linear downscan sonar data and the conical downscan sonar data includes instructions for utilizing a predetermined time interval as a reference for synchronization.

31. The computer program product of claim 24, wherein program code instructions for combining the linear downscan sonar data and the conical downscan sonar data include instructions for rendering base data corresponding to one of the linear downscan sonar data or the conical downscan sonar data and rendering overlay data corresponding to the other of the linear downscan sonar data or the conical downscan sonar data over the base data.

32. The computer program product of claim 31, wherein program code instructions for rendering overlay data corresponding to the other of the linear downscan sonar data or the conical downscan sonar data over the base data include instructions for applying a level mask to the overlay data and rendering only data above a predefined threshold associated with the level mask as the overlay data.

33. The computer program product of claim 24, wherein program code instructions for combining the linear downscan sonar data and the conical downscan sonar data include instructions for blending the linear downscan sonar data with the conical downscan sonar data and rendering the blended data.

34. The computer program product of claim 33, wherein program code instructions for blending the linear downscan sonar data with the conical downscan sonar data include instructions for applying a first weighting factor to the linear downscan sonar data to produce first weighted data and applying a second weighting factor to the conical downscan sonar data to produce second weighted data and wherein rendering the blended data comprises combining the first weighted data and second weighted data into combined weighted data and rendering the combined weighted data.

35. The computer program product of claim 24, wherein program code instructions for combining the linear downscan sonar data and the conical downscan sonar data include instructions for:

forming first data columns of the conical downscan sonar data;

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

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

36. The computer program product of claim 35, wherein program code instructions for forming the second data columns include instructions for storing a plurality of linear downscan sonar data columns corresponding to each of the first data columns and merging the plurality of linear downscan sonar data columns to produce one second data column corresponding to each first data column.

37. The computer program product of claim 36, wherein program code instructions for merging the plurality of linear downscan sonar data columns to produce one second data column corresponding to each first data column include instructions for selecting a largest value for each corresponding segment of the plurality of linear downscan sonar data columns and storing the largest value for each segment to form a corresponding second data column.

38. The computer program product of claim 36, wherein program code instructions for merging the plurality of linear downscan sonar data columns to produce one second data column corresponding to each first data column include instructions for averaging values for each corresponding segment of the plurality of linear downscan sonar data columns and storing an average value for each segment to form a corresponding second data column.

39. The computer program product of claim 24, wherein program code instructions for combining the linear downscan sonar data and the conical downscan sonar data include instructions for combining the linear downscan sonar data and the conical downscan sonar data based on a user selected sensitivity.

40. The computer program product of claim 24, further comprising program code instructions for rendering 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.

41. The computer program product of claim 40, wherein program code instructions for rendering the combined downscan sonar data include instructions for enabling user selection of a color palette for displaying return data corresponding to the linear downscan sonar data with a first color scheme and displaying return data corresponding to the conical downscan sonar data with a second color scheme.

42. The computer program product of claim 24, further comprising program code instructions for enabling user selection of a rendering option corresponding to:

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

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

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

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

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

or

rendering 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.

43. An apparatus comprising a sonar signal processor configured to:

receive linear downscan sonar data based on sonar returns from a series of fan-shaped beams produced sequentially by a linear downscan transducer mounted on a watercraft, the series of fan-shaped beams insonifying different fan-shaped regions of an underwater environment beneath the watercraft as the watercraft travels;

receive conical downscan sonar data based on sonar returns from a generally conical beam produced by a second downscan transducer, wherein the conical beam is wider than each fan-shaped beam in a direction parallel to a longitudinal length of the linear downscan transducer;

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, the at least one image including a composite of images of the fan-shaped regions arranged in a progressive order corresponding to the travel of the watercraft.

44. The apparatus of claim 43, wherein the sonar signal processor is configured to receive the linear downscan sonar data and receiving the conical downscan sonar data by receiving the linear downscan sonar data and the conical downscan sonar data corresponding to respective underwater regions that at least partially overlap.

45. The apparatus of claim 43, wherein the sonar signal processor is configured to combine the linear downscan sonar data and the conical downscan sonar data by producing the combined downscan sonar data to be displayable in a single display window.

46. The apparatus of claim 43, 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.

47. The apparatus of claim 46, wherein the sonar signal processor is configured to synchronize the linear downscan sonar data and the conical downscan sonar data by utilizing a predetermined interval of linear downscan transmissions from the linear downscan transducer as a reference for synchronization with the conical downscan sonar data.

48. The apparatus of claim 46, wherein the sonar signal processor is configured to synchronize the linear downscan sonar data and the conical downscan sonar data by utilizing a predetermined interval of downscan transmissions from the second downscan transducer as a reference for synchronization with the linear downscan sonar data.

49. The apparatus of claim 46, wherein the sonar signal processor is configured to synchronize the linear downscan sonar data and the conical downscan sonar data by utilizing a predetermined time interval as a reference for synchronization.

50. The apparatus of claim 43, wherein the sonar signal processor is configured to combine the linear downscan sonar data and the conical downscan sonar data by rendering base data corresponding to one of the linear downscan sonar data or the conical downscan sonar data and rendering overlay data corresponding to the other of the linear downscan sonar data or the conical downscan sonar data over the base data.

51. The apparatus of claim 50, 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 by applying a level mask to the overlay data and rendering only data above a predefined threshold associated with the level mask as the overlay data.

52. The apparatus of claim 43, wherein the sonar signal processor is configured to combine the linear downscan sonar data and the conical downscan sonar data by blending the linear downscan sonar data with the conical downscan sonar data and rendering the blended data.

53. The apparatus of claim 52, wherein the sonar signal processor is configured to blend the linear downscan sonar data with the conical downscan sonar data by applying a first weighting factor to the linear downscan sonar data to produce first weighted data and applying a second weighting factor to the conical downscan sonar data to produce second weighted data and wherein rendering the blended data comprises combining the first weighted data and second weighted data into combined weighted data and rendering the combined weighted data.

54. The apparatus of claim 43, wherein the sonar signal processor is configured to combine the linear downscan sonar data and the conical downscan sonar data by:

forming first data columns of the conical downscan sonar data;

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

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

55. The apparatus of claim 54, wherein the sonar signal processor is configured to form the second data columns by storing a plurality of linear downscan sonar data columns corresponding to each of the first data columns and merging the plurality of linear downscan sonar data columns to produce one second data column corresponding to each first data column.

56. The apparatus of claim 55, wherein the sonar signal processor is configured to merge the plurality of linear downscan sonar data columns to produce one second data column corresponding to each first data column by selecting a largest value for each corresponding segment of the plurality of linear downscan sonar data columns and storing the largest value for each segment to form a corresponding second data column.

57. The apparatus of claim 55, wherein the sonar signal processor is configured to merge the plurality of linear downscan sonar data columns to produce one second data column corresponding to each first data column by averaging values for each corresponding segment of the plurality of linear downscan sonar data columns and storing an average value for each segment to form a corresponding second data column.

58. The apparatus of claim 43, wherein the sonar signal processor is configured to combine the linear downscan sonar data and the conical downscan sonar data by combining the linear downscan sonar data and the conical downscan sonar data based on a user selected sensitivity.

59. The apparatus of claim 43, 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.

60. The apparatus of claim 59, wherein the sonar signal processor is configured to render the combined downscan sonar data by enabling user selection of a color palette for displaying return data corresponding to the linear downscan sonar data with a first color scheme and displaying return data corresponding to the conical downscan sonar data with a second color scheme.

61. The apparatus of claim 59, wherein the sonar signal processor is configured to render the combined downscan sonar data by enabling user selection of a color palette for displaying return data corresponding to the linear downscan sonar data with a first shading or cross-hatching scheme and displaying return data corresponding to the conical downscan sonar data with a second shading or cross-hatching scheme.

62. The apparatus of claim 43, wherein the sonar signal processor is further configured to enable user selection of a rendering option corresponding to:

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

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

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

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

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

or

rendering 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.

63. The apparatus of claim 43, wherein the sonar signal processor is part of a sonar module in a single housing.

64. The apparatus of claim 63, wherein the sonar module includes multiple operating frequencies.

65. The apparatus of claim 63, wherein the housing is mountable to a watercraft.

66. The apparatus of claim 63, wherein the sonar module includes a single transceiver serving multiple transducers.

67. The apparatus of claim 63, wherein the sonar module includes multiple linear transducers.

68. The apparatus of claim 63, wherein the sonar module includes multiple circular transducers.

69. The apparatus of claim 43, further comprising a display configured to display images representing sonar signals.

70. The apparatus of claim 69, wherein the display is configured to render different images on the same display.

71. The apparatus of claim 43, wherein the linear downscan transducer provides one or more of depth, water column features and bottom data.

72. The apparatus of claim 43, wherein the linear downscan transducer and the second downscan transducer are within a same housing.

73. The apparatus of claim 72, wherein the housing has a streamlined shape.

74. The apparatus of claim 43, wherein the linear downscan transducer and the second downscan transducer provide data simultaneously.

75. The apparatus of claim 43, further comprising a display and a sonar module including the sonar signal processor, the display and the sonar module being within a same housing.

76. The apparatus of claim 75, 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.

77. The apparatus of claim 75, wherein a display format for the display is user selectable.

78. The apparatus of claim 43, wherein the second transducer is circular.

79. The apparatus of claim 43, further comprising a transducer assembly comprising said linear downscan transducer and said second downscan transducer disposed in a housing that is mountable to a watercraft, wherein said linear downscan transducer and said second downscan transducer are oriented to both insonify a same region beneath the watercraft.

80. The apparatus of claim 79, wherein the linear downscan transducer is oriented to insonify a first region beneath the watercraft that is relatively narrow in a direction parallel to a longitudinal length of the linear downscan transducer and relatively wide in a direction transverse to the longitudinal length, and the second downscan transducer is oriented to insonify a second region beneath the watercraft that is wider than the first region in said direction parallel to the longitudinal length of the linear downscan transducer.

81. The apparatus of claim 80, wherein the linear downscan transducer and the second downscan transducer are oriented such that the first and second regions at least partially overlap.