Ocean Survey Source Excitation Control

Abstract

A seabed target detection system is provided. The system may include a source array. The source array may include a first source and a second source. The system may include a data processing system having one or more processors. The data processing system may determine the position of the first source and may identify a first excitation time of the second source. The data processing system may initiate a first source emission of the first source at a known position and initiate a first source emission of the second source at a known time. The data processing system may determine a target position and an estimated position of the first source. The data processing system may determine a second position of the first source based on a difference between the target position and the estimated position. The data processing system may initiate a second source emission of the first source at a known position.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of and priority to U.S. Patent Application No. 16 / 446,400 filed on June 19, 2019 and U.S. Patent Application No. 16 / 446,406 filed on June 19, 2019, the entire contents of which are incorporated herein by reference. Background Art

[0003] Seismic or other operations performed on a piece of land may identify features or characteristics beneath the subsurface of the land being analyzed. Summary of the invention

[0004] At least one aspect of the present disclosure relates to a seabed target detection system. The seabed target detection system may include a source array. The source array may include a first source and a second source. The seabed target detection system may include a data processing system. The data processing system may include one or more processors. The data processing system may determine a first position of a first source. The data processing system may identify a first excitation time of a second source. The data processing system may initiate a first source emission of the first source at a first position of the first source. The data processing system may initiate a first source emission of the second source at a first excitation time of the second source. The data processing system may determine a target position of the first source. The data processing system may determine an estimated position of the first source. The data processing system may determine a second position of the first source based on a difference between the target position and the estimated position. The data processing system may initiate a second source emission of the first source at a second position of the first source.

[0005] At least one aspect of the present disclosure relates to a method for detecting a seafloor target. The method may include identifying, by a data processing system, a first excitation time of a second source. The method may include initiating, by the data processing system, a first source emission of a first source at a first location of the first source. The method may include initiating, by the data processing system, a first source emission of a second source at the first excitation time of the second source. The method may include determining, by the data processing system, a target location of the first source. The method may include determining, by the data processing system, an estimated location of the first source. The method may include determining, by the data processing system, a second location of the first source based on a difference between the target location and the estimated location. The method may include initiating, by the data processing system, a second source emission of the first source at the second location of the first source.

[0006] At least one aspect of the present disclosure relates to a seabed target detection system. The seabed target detection system may include a source array. The source array may include a first source, a second source, a third source, and a fourth source. The seabed target detection system may include a data processing system. The data processing system may include one or more processors. The data processing system may determine a first position of a first source. The data processing system may calculate a first excitation time of a second source, a first excitation time of a third source, and a first excitation time of a fourth source. The data processing system may start a first source emission of the first source at a first position of the first source. The data processing system may start a first source emission of the second source at a first excitation time of the second source, start a first source emission of the third source at a first excitation time of the third source, and start a first source emission of the fourth source at a first excitation time of the fourth source. The data processing system may determine a target position of the first source, the target position being less than 10 meters from the first position of the first source. The data processing system may determine an estimated position of the first source. The data processing system may determine a second position of the first source based on a difference between the target position and the estimated position. The data processing system may start a second source emission of the first source at a second position of the first source.

[0007] At least one aspect of the present disclosure relates to a method for detecting a seafloor target. The method may include providing a source array including a first source, a second source, a third source, and a fourth source. The method may include determining, by a data processing system having one or more processors, a first position of the first source. The method may include identifying, by the data processing system, a first excitation time of the second source, a first excitation time of the third source, and a first excitation time of the fourth source. The method may include initiating, by the data processing system, a first source emission of the first source at a first position of the first source. The method may include initiating, by the data processing system, a first source emission of the second source at a first excitation time of the second source, initiating a first source emission of the third source at a first excitation time of the third source, and initiating a first source emission of the fourth source at a first excitation time of the fourth source. The method may include determining, by the data processing system, a target position of the first source, the target position being less than 10 meters from the first position of the first source. The method may include determining, by the data processing system, an estimated position of the first source. The method may include determining, by the data processing system, a second position of the first source based on a difference between the target position and the estimated position. The method may include initiating, by the data processing system, a second source emission of the first source at a second position of the first source. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The details of one or more implementations of the subject matter described in this specification are set forth in the accompanying drawings and the description below. Other features, aspects, and advantages of the subject matter will become apparent from the description, drawings, and claims.

[0009] Figure 1 A seabed target detection system according to example embodiments is illustrated.

[0010] Figure 2 Diffraction surveying according to example embodiments is illustrated.

[0011] Figure 3 A reflection survey according to an example embodiment is illustrated.

[0012] Figure 4 A seabed target detection system according to example embodiments is illustrated.

[0013] Figure 5 A seabed target detection system according to example embodiments is illustrated.

[0014] Figure 6 A seabed target detection system according to example embodiments is illustrated.

[0015] Figure 7 A method of detecting a seabed target according to an example embodiment is shown.

[0016] Figure 8 A block diagram depicting the architecture of a computing system for implementing Figure 1-Figure 7 The various elements of the system or component depicted.

[0017] Like reference numbers and designations in the several drawings indicate like elements. DETAILED DESCRIPTION

[0018] Surveys based on reflections can obtain information related to underground features. The acoustic signals described herein can be reflected from underground lithological formations and be acquired, analyzed and interpreted. However, surveys based on reflections usually cover narrow areas and collect sparse data sets, both of which are factors that cause the time required to complete the survey to increase. In addition, due to the resolution capabilities of surveys based on reflections, small shallow targets such as boulders buried in the seabed may be difficult to accurately image. These small targets can complicate or delay the placement of cable connections and communication lines between wind turbines, ocean or seabed structures fixed to the seabed, and these wind turbines, ocean or ocean bottom structures.

[0019] The present disclosure relates to systems and methods for seafloor target detection. Due to the limitations of reflection-based surveys, detecting small shallow targets in the seafloor can be challenging. Without providing an accurate map of seafloor obstructions, inefficiencies associated with increased survey times (such as greater risk of delays due to weather) can increase the operating costs of these surveys. In addition, precisely controlling the excitation time of the source and knowing the location of the source can help accurately image the seafloor. The systems and methods of the present disclosure can solve these and other problems associated with performing surveys to detect seafloor targets.

[0020] The present disclosure relates to systems and methods for seabed target detection. For example, a seabed target detection system can provide an accurate map of seabed obstacles. The system can include a source array. The source array can include a first source and a second source. The system can include a data processing system, which includes one or more processors. The data processing system can determine the position of the first source. The data processing system can identify a first excitation time of the second source. The data processing system can initiate a first source emission of the first source at a known position and initiate a first source emission of the second source at a known time. The data processing system can determine a target position and an estimated position of the first source. The data processing system can determine the second position of the first source based on the difference between the target position and the estimated position. The data processing system can initiate a second source emission of the first source at a known position.

[0021] Figure 1 An example seafloor target detection system 100 for an ocean environment is illustrated, in which the systems and methods of the present disclosure can perform seismic surveys to detect seafloor targets. The seafloor target detection system 100 may include a receiver array 105. The receiver array 105 may include a streamer 125. For example, the streamer 125 may be a cable (e.g., a surface cable), a wire assembly, or any component capable of connecting a receiver to a recording device that may be located on a vessel 102. The receiver array 105 may include a plurality of receivers 110. The plurality of receivers 110 may be disposed on a plurality of streamers 115. The streamers in the plurality of streamers 115 may be cables (e.g., a surface cable), a wire assembly, or any component capable of connecting a receiver to a recording device that may be located on a vessel 102. The receiver array 105 may include one or more receivers. For example, the receiver array 105 may include a plurality of receivers 110 coupled to a plurality of streamers 115. The receiver array 105 may include a pattern of receivers. For example, a plurality of receivers 110 may be coupled to a plurality of streamers 115 along a line. The plurality of receivers 110 in the receiver array 105 may be coupled to the plurality of streamers 115 in a grid pattern. The receiver array 105 may be a pattern formed by the plurality of receivers 110 disposed on the plurality of streamers 115. For example, the receiver array 105 may include the plurality of receivers 110 disposed along streamers in the plurality of streamers 115. The receiver array 105 may include the plurality of receivers 110 disposed on several streamers in the plurality of streamers 115. The receiver array 105 may receive diffraction data diffracted from a target in the seafloor.

[0022] The receiver array 105 may include a plurality of receivers 110. The plurality of receivers 110 may receive diffraction data diffracted from a target in the seafloor. For example, the receivers in the plurality of receivers 110 may be hydrophones or any other device capable of collecting seismic data. The seismic data may include reflection data indicating underground features of the seafloor. The seismic data may include diffraction data indicating underground features of the seafloor. The underground features of the seafloor may include small shallow targets such as boulders. The width of the small shallow targets may be between 10 cm and 100 cm (e.g., 20 cm, 30 cm, 40 cm, 50 cm, 60 cm, 70 cm, 80 cm, 90 cm, 100 cm). The small shallow targets may be larger than 100 cm. These small shallow targets may be smaller than 10 cm. The plurality of receivers 110 may be configured to detect sound waves reflected by seafloor targets. The plurality of receivers 110 may be configured to detect sound waves diffracted by seafloor targets. The plurality of receivers 110 may detect diffraction data diffracted from the edge of the target. For example, multiple receivers 110 can detect diffraction data originating from the edge of a large target. The volume of a large target can be between 100 and 500 cubic meters (e.g., 100 cubic meters, 200 cubic meters, 300 cubic meters, 400 cubic meters, 500 cubic meters). The volume of a large target can be less than 100 cubic meters. The volume of a large target can be greater than 100 cubic meters. The large target can be a shipping container. Diffraction data can originate from the corner of a shipping container. Multiple receivers 110 can detect targets with irregular surface features. For example, multiple receivers 110 can detect targets with small faces, edges, sharp boundaries, or textures. A seabed target can be completely buried in the seabed. A seabed target can be partially buried in the seabed.

[0023] The undersea object detection system 100 may include a source array 127. The source array may include a first source 150. For example, the first source 150 may generate source emissions. The first source 150 may generate acoustic waves. The source array 127 may generate acoustic signals to be received by the receiver array 105. The source array 127 including the first source 150 may include a pattern of sources. The source array 127 may include a second source 155. For example, the second source 155 may generate source emissions. The second source 155 may generate acoustic waves. The source array 127 may generate acoustic signals to be received by the receiver array 105. The source array 127 including the second source 155 may include a pattern of sources.

[0024] The source array 127 may include a third source 160. For example, the third source 160 may generate source emissions. The third source 160 may generate acoustic waves. The source array 127 may generate acoustic signals to be received by the receiver array 105. The source array 127 including the third source 160 may include a pattern of sources. The source array 127 may include a fourth source 165. For example, the fourth source 165 may generate source emissions. The fourth source 165 may generate acoustic waves. The source array 127 may generate acoustic signals to be received by the receiver array 105. The source array 127 including the fourth source 165 may include a pattern of sources.

[0025] The source array 127 may include a fifth source 170. For example, the fifth source 170 may generate source emissions. The fifth source 170 may generate acoustic waves. The source array 127 may generate acoustic signals to be received by the receiver array 105. The source array 127 including the fifth source 170 may include a pattern of sources. The source array 127 may include a sixth source 175. For example, the sixth source 175 may generate source emissions. The sixth source 175 may generate acoustic waves. The source array 127 may generate acoustic signals to be received by the receiver array 105. The source array 127 including the sixth source 175 may include a pattern of sources.

[0026] The source array 127 may include a seventh source 180. For example, the seventh source 180 may generate source emissions. The seventh source 180 may generate acoustic waves. The source array 127 may generate acoustic signals to be received by the receiver array 105. The source array 127 including the seventh source 180 may include a pattern of sources. The source array 127 may include an eighth source 185. For example, the eighth source 185 may generate source emissions. The eighth source 185 may generate acoustic waves. The source array 127 may generate acoustic signals to be received by the receiver array 105. The source array 127 including the eighth source 185 may include a pattern of sources.

[0027] The seafloor object detection system 100 may include a vessel 102. The vessel 102 may tow a receiver array 105. The vessel 102 may tow a source array 127. The vessel 102 may tow the source array 127 in a towing direction 101. The vessel 102 may tow the receiver array 105 in a towing direction 101. The vessel 102 may tow a first source 150. The vessel 102 may tow a second source 155. The vessel 102 may tow a third source 160. The vessel 102 may tow a fourth source 165. The vessel 102 may tow a fifth source 170. The vessel 102 may tow a sixth source 175. The vessel 102 may tow a seventh source 180. The vessel 102 may tow an eighth source 185. The vessel 102 may tow the first source 150 ahead of the receiver array 105. The vessel 102 may tow the second source 155 ahead of the receiver array 105. The vessel 102 may tow a third source 160 in front of the receiver array 105. The vessel 102 may tow a fourth source 165 in front of the receiver array 105. The vessel 102 may tow a fifth source 170 in front of the receiver array 105. The vessel 102 may tow a sixth source 175 in front of the receiver array 105. The vessel 102 may tow a seventh source 180 in front of the receiver array 105. The vessel 102 may tow an eighth source 185 in front of the receiver array 105.

[0028] The seabed target detection system 100 may include a power cable 190 for providing power to a source. For example, the power cable 190 may be a power cable that transmits power from the vessel 102 to the first source 150. The power cable 190 may be a power cable that transmits power from the vessel 102 to the second source 155. The power cable 190 may be a power cable that transmits power from the vessel 102 to the third source 160. The power cable 190 may be a power cable that transmits power from the vessel 102 to the fourth source 165. The power cable 190 may be a power cable that transmits power from the vessel 102 to the fifth source 170. The power cable 190 may be a power cable that transmits power from the vessel 102 to the sixth source 175. The power cable 190 may be a power cable that transmits power from the vessel 102 to the seventh source 180. The power cable 190 may be a power cable that transmits power from the vessel 102 to the eighth source 185.

[0029] Figure 2Diffraction survey 200 is illustrated. Diffraction survey 200 may include receiver array 105 and source array 127. Source array 127 may generate source emission 215. Source emission 215 may pass through a medium (e.g., seawater) and diffract from seafloor target 210. Seafloor target 210 may be completely buried in seafloor 220. Seafloor target 210 may be partially buried in seafloor 220. Seafloor target 210 may include small shallow targets such as boulders. Small shallow targets may have a width between 10 cm and 100 cm (e.g., 20 cm, 30 cm, 40 cm, 50 cm, 60 cm, 70 cm, 80 cm, 90 cm, 100 cm). Small shallow targets may be larger than 100 cm. These small shallow targets may be smaller than 10 cm. Waves diffracted from seafloor target 210 may include diffraction data. Diffraction data may include diffraction waves 205. Receiver array 105 may receive diffraction data. For example, the receiver array 105 may receive the diffraction wave 205. The plurality of receivers 110 in the receiver array 105 may receive the diffraction data. For example, the plurality of receivers 110 may receive the diffraction wave 205. The plurality of receivers 110 may be coupled to the streamer 125. The receivers in the plurality of receivers 110 may receive the diffraction wave 205. The diffraction data may include the diffraction wave 205 originating from the seafloor target 210. The diffraction data may include the diffraction wave 205 generated from the source emission 215. The plurality of receivers 110 may detect the diffraction data diffracted from the edge of the target. For example, the plurality of receivers 110 may detect the diffraction data originating from the edge of a large target. The volume of the large target may be between 100 and 500 cubic meters (e.g., 100 cubic meters, 200 cubic meters, 300 cubic meters, 400 cubic meters, 500 cubic meters). The volume of the large target may be less than 100 cubic meters. The volume of the large target may be greater than 100 cubic meters. A large target may be a shipping container. Diffraction data may originate from a corner of a shipping container. Multiple receivers 110 may detect targets having irregular surface features. For example, multiple receivers 110 may detect targets having small faces, edges, sharp boundaries, or textures.

[0030] A plurality of receivers 110 in the receiver array 105 may receive diffraction data. The diffraction data may include diffraction waves 205 diffracted from a seafloor target that is smaller than the Fresnel zone. The Fresnel zone is a reflection region from which most of the reflected energy returns, and the arrival time of the reflection differs from the arrival time of the energy propagated from the energy source by less than half a cycle. Waves with such arrival times may constructively interfere and be detected by a single arrival. Therefore, it may be difficult to detect reflected waves from a target that is smaller than the Fresnel zone. However, the plurality of receivers 110 of the receiver array 105 may detect diffraction waves from a target that is smaller than the Fresnel zone.

[0031] The source array 127 may generate acoustic waves. The acoustic waves may include source emission 215. The acoustic waves may be diffracted from a target in the seafloor. The receiver array 105 may receive diffracted waves originating from a target in the seafloor. The first source 150 may generate acoustic waves. The second source 155 may generate acoustic waves. The third source 160 may generate acoustic waves. The fourth source 165 may generate acoustic waves. The fifth source 170 may generate acoustic waves. The sixth source 175 may generate acoustic waves. The seventh source 180 may generate acoustic waves. The eighth source 185 may generate acoustic waves. Receivers in the plurality of receivers 110 in the receiver array 105 may receive the diffracted waves. Receivers disposed on the streamer 125 may receive the diffracted waves.

[0032] Figure 3 An example reflection survey 300 is illustrated. Reflection survey 300 may include receiver array 105 and source array 127. Source array 127 may generate source emissions 215. Source emissions 215 may pass through a medium (e.g., seawater) and reflect from a seafloor target 210. Seafloor target 210 may be completely buried in seafloor 220. Seafloor target 210 may be partially buried in seafloor 220. Seafloor target 210 may include small shallow targets such as boulders. Small shallow targets may have a width between 10 cm and 100 cm (e.g., 20 cm, 30 cm, 40 cm, 50 cm, 60 cm, 70 cm, 80 cm, 90 cm, 100 cm). Small shallow targets may be larger than 100 cm. These small shallow targets may be smaller than 10 cm. Waves reflected from seafloor target 210 may include reflection data. Reflection data may include reflection waves 305. Receiver array 105 may receive reflection data. For example, receiver array 105 may receive reflection waves 305. A receiver in the plurality of receivers 110 may receive a reflected wave 305. The reflected data may include a reflected wave 305 originating from a target on the seafloor. The reflected data may include a reflected wave 305 generated from a source emission 215. The plurality of sources of the source array 127 may generate an acoustic signal. The plurality of receivers 110 in the receiver array 105 may receive reflected data reflected from a target in the seafloor. The reflected data may include a reflected wave 305. The receiver in the plurality of receivers 110 may receive a reflected wave 305 reflected from a target in the seafloor and generated by a source in the plurality of sources in the source array 127. The plurality of receivers 110 may receive reflected data reflected from a target in the seafloor 220.

[0033] Figure 4An example seabed object detection system 100 is illustrated. The seabed object detection system 100 may include a first source 150. The seabed object detection system 100 may include a second source 155. The seabed object detection system 100 may include a third source 160. The seabed object detection system 100 may include a fourth source 165. The seabed object detection system 100 may include a fifth source 170. The seabed object detection system 100 may include a sixth source 175. The seabed object detection system 100 may include a seventh source 180. The seabed object detection system 100 may include an eighth source 185.

[0034] The seabed target detection system 100 may include a data processing system 800 as described herein. The data processing system may have one or more processors 810. The data processing system 800 may determine a first location 405 of a first source. The one or more processors 810 may determine the first location 405 of the first source. For example, the one or more processors 810 may determine the first location 405 of the first source based on a satellite-based navigation system (e.g., GPS), geolocation, a real-time positioning system, a local positioning system, etc. The one or more processors 810 may be located at the vessel 102 to determine the first location 405 of the first source. For example, the first location 405 of the first source may appear at a reference location of 0 meters. The first location 405 of the first source may be the location of the first source 150.

[0035] The data processing system 800 may identify the first firing time 410 of the second source. The one or more processors 810 may identify the first firing time 410 of the second source. The one or more processors 810 may calculate the first firing time 410 of the second source. For example, the one or more processors 810 may identify the first firing time 410 of the second source based on the speed of the vessel 102. The one or more processors 810 may identify that the first firing time 410 of the second source should occur at a predetermined time after the first firing time 460 of the first source. For example, the one or more processors 810 may identify that the first firing time 410 of the second source should occur 370 milliseconds after the first firing time 460 of the first source. The one or more processors 810 may determine that the first firing time 410 of the second source should occur 370 milliseconds after the first firing time 460 of the first source. The firing time 410 of the second source may be the time of the second source 155.

[0036] The data processing system 800 may initiate a first source emission 415 of the first source at the first location 405 of the first source. The one or more processors 810 may initiate a first source emission 415 of the first source at the first location 405 of the first source. The one or more processors 810 may initiate a first source emission 415 of the first source. The first source emission 415 of the first source may be a source emission 215 of the first source 150. The first source emission 415 of the first source may be an acoustic wave of the first source 150. The first source emission 415 of the first source may be an acoustic signal of the first source 150. The one or more processors 810 may initiate a first source emission 415 of the first source at the first location 405 of the first source. The one or more processors 810 may initiate a first source emission 415 of the first source at a first firing time 460 of the first source. For example, the first firing time 460 of the first source may be a reference time of 0 milliseconds. The first location 405 of the first source may be a reference location of 0 meters. The data processing system 800 may initiate a first source emission 415 of the first source at a known location.

[0037] The data processing system 800 may initiate the first source emission 420 of the second source. The one or more processors 810 may initiate the first source emission 420 of the second source. The data processing system 800 may initiate the first source emission 420 of the second source at the first firing time 410 of the second source. The one or more processors 810 may initiate the first source emission 420 of the second source at the first firing time 410 of the second source. The first source emission 420 of the second source may be the source emission 215 of the second source 155. The first source emission 420 of the second source may be an acoustic signal of the second source 155. The first source emission 420 of the second source may be an acoustic wave of the second source 155. The one or more processors 810 may initiate the first source emission 420 of the second source at the first firing time 410 of the second source. For example, the first firing time 410 of the second source may be 370 milliseconds after the first firing time 405 of the first source. The first firing time 410 of the second source may occur when the vessel 102 is approximately 0.78 meters away from the position of the vessel 102 when the vessel 102 fires the first source emission 415 of the first source. The data processing system 800 may initiate the first source transmission 420 of the second source at a known time.

[0038] The data processing system 800 may determine the target location 493 of the first source 150. The one or more processors 810 may determine the target location 493 of the first source 150. The one or more processors 810 may determine the target location 493 based on the speed of the vessel 102. The one or more processors 810 may determine the target location 493 based on the speed of the vessel 102. The one or more processors 810 may determine the target location 493 based on the first location 405 of the first source. For example, the target location 493 of the first source 150 may be less than 10 meters (e.g., 6.25 meters) from the first location 405 of the first source. The data processing system 800 may determine the target location 493 of the first source 150. The target location may be 6.25 meters from the first location 405 of the first source. The target location may be less than 10 meters from the first location 405 of the first source. The target location may be greater than 10 meters from the first location 405 of the first source.

[0039] The data processing system 800 may determine the estimated position 490 of the first source. The one or more processors 810 may determine the estimated position 490 of the first source. The one or more processors 810 may determine the estimated position 490 based on the speed of the vessel 102. The one or more processors 810 may determine the estimated position 490 based on the speed of the vessel 102. The one or more processors 810 may determine the estimated position 490 based on the first position 405 of the first source.

[0040] The data processing system 800 may determine the second position 495 of the first source. The one or more processors 810 may determine the second position 495 of the first source. The one or more processors 810 may determine the second position 495 of the first source based on the difference between the target position 493 and the estimated position 490. For example, the vessel 102 may set a target to initiate the second source transmission 475 of the first source at a distance of 6.25 meters from the reference position of 0 meters. For example, if the estimated position 490 is farther from the first position 405 of the first source than the target position 493, the second source transmission 475 of the first source may be initiated earlier than calculated based on the speed of the vessel 102. For example, the target position 493 may be 6.25 meters. The estimated position 490 may be more than 6.25 meters. If the estimated position 490 is closer to the first position 405 of the first source than the target position 493, the second source transmission 475 of the first source may be initiated later than calculated based on the speed of the vessel 102. For example, the target position 493 may be 6.25 meters. The estimated position 490 may be less than 6.25 meters. The target position 493 may be equal to the estimated position 490.

[0041] The data processing system 800 may initiate a second source transmission 475 of the first source. The one or more processors 810 may initiate a second source transmission 475 of the first source. The one or more processors 810 may initiate a second source transmission 475 of the first source at a second location 495 of the first source. The second location 495 of the first source may be 6.25 meters from the first location 405 of the first source. The data processing system 800 may initiate a second source transmission 475 of the first source at a known time. The data processing system 800 may initiate a second source transmission 475 of the first source at a known location.

[0042] The data processing system 800 may calculate a time interval 455 between the first firing time 460 of the first source and the first firing time 410 of the second source. The one or more processors 810 may calculate a time interval 455 between the first firing time 460 of the first source and the first firing time 410 of the second source. The data processing system 800 may calculate a time interval 455 between the first firing time 460 of the first source and the first firing time 410 of the second source that is less than 1 second. For example, the data processing system 800 may calculate a time interval 455 between the first firing time 460 of the first source and the first firing time 410 of the second source that is 370 milliseconds. The data processing system 800 may calculate a time interval between the first firing time 460 of the first source and the first firing time 410 of the second source. The data processing system 800 may calculate a time interval between the first firing time 460 of the first source and the first firing time 410 of the second source that is less than 1 second.

[0043] The data processing system 800 may delay the firing time. The data processing system 800 may delay the firing time of the second source emission 475 of the first source. The one or more processors 810 may delay the firing time. The one or more processors 810 may delay the firing time of the second source emission 475 of the first source. For example, the data processing system 800 may delay the firing time of the second source emission 475 of the first source by a calculated amount of time. The data processing system 800 may delay the firing time of the second source emission 475 by a calculated amount of time based on the speed of the vessel 102. The data processing system 800 may delay the firing time of the second source emission 475 of the first source by a calculated amount of time based on the position of the vessel 102. The one or more processors 810 may delay the firing time of the second source emission 475 of the first source by a calculated amount of time based on the speed of the vessel 102. The one or more processors 810 may delay the firing time of the second source emission 475 of the first source by a calculated amount of time based on the position of the vessel 102.

[0044] The data processing system 800 may speed up the firing time. The data processing system 800 may speed up the firing time of the second source emission 475 of the first source. The one or more processors 810 may speed up the firing time. The one or more processors 810 may speed up the firing time of the second source emission 475 of the first source. For example, the data processing system 800 may speed up the firing time of the second source emission 475 of the first source by a calculated amount of time. The data processing system 800 may speed up the firing time of the second source emission 475 based on the speed of the vessel 102. The data processing system 800 may speed up the firing time of the second source emission 475 of the first source by a calculated amount of time based on the position of the vessel 102. The one or more processors 810 may speed up the firing time of the second source emission 475 of the first source by a calculated amount of time based on the speed of the vessel 102. The one or more processors 810 may speed up the firing time of the second source emission 475 of the first source by a calculated amount of time based on the position of the vessel 102.

[0045] The data processing system 800 may calculate the first firing time 427 of the third source. The one or more processors 810 may calculate the first firing time 427 of the third source. For example, the one or more processors 810 may calculate the first firing time 427 of the third source based on the speed of the vessel 102. The one or more processors 810 may calculate that the first firing time 427 of the third source should occur at a predetermined time after the first firing time 460 of the first source. For example, the one or more processors 810 calculate that the first firing time 427 of the third source should occur 740 milliseconds after the first firing time 460 of the first source. The one or more processors 810 may determine that the first firing time 427 of the third source should occur 740 milliseconds after the first firing time 460 of the first source. The first firing time 427 of the third source may be the time of the third source 160. The data processing system 800 may calculate a fixed time interval between the first firing time 410 of the second source and the first firing time 427 of the third source. The data processing system 800 may calculate the time interval between the first firing time 410 of the second source and the first firing time 427 of the third source. The data processing system 800 may calculate a time interval between the first firing time 410 of the second source and the first firing time 427 of the third source that is less than 1 second.

[0046] The data processing system 800 may initiate the first source emission 425 of the third source at the first firing time 427 of the third source. The one or more processors 810 may initiate the first source emission 425 of the third source at the first firing time 427 of the third source. The first source emission 425 of the third source may be the source emission 215 of the third source 160. The first source emission 425 of the third source may be an acoustic signal of the third source 160. The first source emission 425 of the third source may be an acoustic wave of the third source 160. The one or more processors 810 may initiate the first source emission 425 of the third source at the first firing time 427 of the third source. For example, the first firing time 427 of the third source may be 740 milliseconds after the first firing time 405 of the first source. The first firing time 427 of the third source may occur when the vessel 102 is approximately 1.56 meters away from the position of the vessel 102 when the vessel 102 fires the first source emission 415 of the first source. The data processing system 800 may initiate the first source emission 425 of the third source at the known time.

[0047] The data processing system 800 may calculate the first firing time 432 of the fourth source. The one or more processors 810 may calculate the first firing time 432 of the fourth source. For example, the one or more processors 810 may calculate the first firing time 432 of the fourth source based on the speed of the vessel 102. The one or more processors 810 may calculate that the first firing time 432 of the fourth source should occur at a predetermined time after the first firing time 460 of the first source. For example, the one or more processors 810 calculate that the first firing time 432 of the fourth source should occur 1110 milliseconds after the first firing time 460 of the first source. The one or more processors 810 may determine that the first firing time 432 of the fourth source should occur 1110 milliseconds after the first firing time 460 of the first source. The first firing time 432 of the fourth source may be the time of the fourth source 165. The data processing system 800 may calculate a fixed time interval between the first firing time 427 of the third source and the first firing time 432 of the fourth source. The data processing system 800 may calculate the time interval between the first firing time 427 of the third source and the first firing time 432 of the fourth source. The data processing system 800 may calculate a time interval between the first firing time 427 of the third source and the first firing time 432 of the fourth source that is less than 1 second.

[0048] The data processing system 800 may initiate the first source transmission 430 of the fourth source at the first firing time 432 of the fourth source. The one or more processors 810 may initiate the first source transmission 430 of the fourth source at the first firing time 432 of the fourth source. The first source transmission 430 of the fourth source may be the source transmission 215 of the fourth source 165. The first source transmission 430 of the fourth source may be an acoustic signal of the fourth source 165. The first source transmission 430 of the fourth source may be an acoustic wave of the fourth source 165. The one or more processors 810 may initiate the first source transmission 430 of the fourth source at the first firing time 432 of the fourth source. For example, the first firing time 432 of the fourth source may be 1110 milliseconds after the first firing time 405 of the first source. The first firing time 432 of the fourth source may occur when the vessel 102 is approximately 2.34 meters away from the position of the vessel 102 when the vessel 102 fired the first source transmission 415 of the first source. The data processing system 800 may initiate the first source transmission 430 of the fourth source at the known time.

[0049] The data processing system 800 may calculate the first firing time 437 of the fifth source. The one or more processors 810 may calculate the first firing time 437 of the fifth source. For example, the one or more processors 810 may calculate the first firing time 437 of the fifth source based on the speed of the vessel 102. The one or more processors 810 may calculate that the first firing time 437 of the fifth source should occur at a predetermined time after the first firing time 460 of the first source. For example, the one or more processors 810 calculate that the first firing time 437 of the fifth source should occur 1480 milliseconds after the first firing time 460 of the first source. The one or more processors 810 may determine that the first firing time 437 of the fifth source should occur 1480 milliseconds after the first firing time 460 of the first source. The first firing time 437 of the fifth source may be the time of the fifth source 170. The data processing system 800 may calculate a fixed time interval between the first firing time 432 of the fourth source and the first firing time 437 of the fifth source. The data processing system 800 may calculate the time interval between the first firing time 432 of the fourth source and the first firing time 437 of the fifth source. The data processing system 800 may calculate a time interval between the first firing time 432 of the fourth source and the first firing time 437 of the fifth source that is less than 1 second.

[0050] The data processing system 800 may initiate the first source emission 435 of the fifth source at the first firing time 437 of the fifth source. The one or more processors 810 may initiate the first source emission 435 of the fifth source at the first firing time 437 of the fifth source. The first source emission 435 of the fifth source may be the source emission 215 of the fifth source 170. The first source emission 435 of the fifth source may be the acoustic signal of the fifth source 170. The first source emission 435 of the fifth source may be the acoustic wave of the fifth source 170. The one or more processors 810 may initiate the first source emission 435 of the fifth source at the first firing time 437 of the fifth source. For example, the first firing time 437 of the fifth source may be 1480 milliseconds after the first firing time 405 of the first source. The first firing time 437 of the fifth source may occur when the vessel 102 is approximately 3.12 meters away from the position of the vessel 102 when the vessel 102 fired the first source emission 415 of the first source. The data processing system 800 may initiate the first source emission 435 of the fifth source at the known time.

[0051] The data processing system 800 may calculate the first firing time 442 of the sixth source. The one or more processors 810 may calculate the first firing time 442 of the sixth source. For example, the one or more processors 810 may calculate the first firing time 442 of the sixth source based on the speed of the vessel 102. The one or more processors 810 may calculate that the first firing time 442 of the sixth source should occur at a predetermined time after the first firing time 460 of the first source. For example, the one or more processors 810 calculate that the first firing time 442 of the sixth source should occur 1850 milliseconds after the first firing time 460 of the first source. The one or more processors 810 may determine that the first firing time 442 of the sixth source should occur 1850 milliseconds after the first firing time 460 of the first source. The first firing time 442 of the sixth source may be the time of the sixth source 175. The data processing system 800 may calculate a fixed time interval between the first firing time 437 of the fifth source and the first firing time 442 of the sixth source. The data processing system 800 may calculate a time interval between the first firing time 437 of the fifth source and the first firing time 442 of the sixth source. The data processing system 800 may calculate a time interval between the first firing time 437 of the fifth source and the first firing time 442 of the sixth source that is less than 1 second.

[0052] The data processing system 800 may initiate the first source transmission 440 of the sixth source at the first firing time 442 of the sixth source. The one or more processors 810 may initiate the first source transmission 440 of the sixth source at the first firing time 442 of the sixth source. The first source transmission 440 of the sixth source may be the source transmission 215 of the sixth source 175. The first source transmission 440 of the sixth source may be the acoustic signal of the sixth source 175. The first source transmission 440 of the sixth source may be the acoustic wave of the sixth source 175. The one or more processors 810 may initiate the first source transmission 440 of the sixth source at the first firing time 442 of the sixth source. For example, the first firing time 442 of the sixth source may be 1110 milliseconds after the first firing time 405 of the first source. The first firing time 442 of the sixth source may occur when the vessel 102 is approximately 3.9 meters away from the position of the vessel 102 when the vessel 102 fired the first source transmission 415 of the first source. The data processing system 800 may initiate the first source transmission 440 of the sixth source at the known time.

[0053] The data processing system 800 may calculate the first activation time 447 of the seventh source. The one or more processors 810 may calculate the first activation time 447 of the seventh source. For example, the one or more processors 810 may calculate the first activation time 447 of the seventh source based on the speed of the vessel 102. The one or more processors 810 may calculate that the first activation time 447 of the seventh source should occur at a predetermined time after the first activation time 460 of the first source. For example, the one or more processors 810 calculate that the first activation time 447 of the seventh source should occur 2220 milliseconds after the first activation time 460 of the first source. The one or more processors 810 may determine that the first activation time 447 of the seventh source should occur 2220 milliseconds after the first activation time 460 of the first source. The first activation time 447 of the seventh source may be the time of the seventh source 180. The data processing system 800 may calculate a fixed time interval between the first activation time 442 of the sixth source and the first activation time 447 of the seventh source. The data processing system 800 may calculate a time interval between the first activation time 442 of the sixth source and the first activation time 447 of the seventh source. The data processing system 800 may calculate a time interval between the first firing time 442 of the sixth source and the first firing time 447 of the seventh source that is less than 1 second.

[0054] The data processing system 800 may initiate the first source emission 445 of the seventh source at the first activation time 447 of the seventh source. The one or more processors 810 may initiate the first source emission 445 of the seventh source at the first activation time 447 of the seventh source. The first source emission 445 of the seventh source may be the source emission 215 of the seventh source 180. The first source emission 445 of the seventh source may be the acoustic signal of the seventh source 180. The first source emission 445 of the seventh source may be the acoustic wave of the seventh source 180. The one or more processors 810 may initiate the first source emission 445 of the seventh source at the first activation time 447 of the seventh source. For example, the first activation time 447 of the seventh source may be 2220 milliseconds after the first activation time 405 of the first source. The first activation time 447 of the seventh source may occur when the vessel 102 is approximately 4.68 meters away from the position of the vessel 102 when the vessel 102 activates the first source emission 415 of the first source. The data processing system 800 may initiate the first source emission 445 of the seventh source at a known time.

[0055] The data processing system 800 may calculate the first activation time 452 of the eighth source. The one or more processors 810 may calculate the first activation time 452 of the eighth source. For example, the one or more processors 810 may calculate the first activation time 452 of the eighth source based on the speed of the vessel 102. The one or more processors 810 may calculate that the first activation time 452 of the eighth source should occur at a predetermined time after the first activation time 460 of the first source. For example, the one or more processors 810 calculate that the first activation time 452 of the eighth source should occur 2590 milliseconds after the first activation time 460 of the first source. The one or more processors 810 may determine that the first activation time 452 of the eighth source should occur 2590 milliseconds after the first activation time 460 of the first source. The first activation time 452 of the eighth source may be the time of the eighth source 185. The data processing system 800 may calculate a fixed time interval between the first activation time 447 of the seventh source and the first activation time 452 of the eighth source. The data processing system 800 may calculate the time interval between the first activation time 447 of the seventh source and the first activation time 452 of the eighth source. The data processing system 800 may calculate a time interval between the first firing time 447 of the seventh source and the first firing time 452 of the eighth source that is less than 1 second.

[0056] The data processing system 800 may initiate the first source emission 450 of the eighth source at the first firing time 452 of the eighth source. The one or more processors 810 may initiate the first source emission 450 of the eighth source at the first firing time 452 of the eighth source. The first source emission 450 of the eighth source may be the source emission 215 of the eighth source 185. The first source emission 450 of the eighth source may be the acoustic signal of the eighth source 185. The first source emission 450 of the eighth source may be the acoustic wave of the eighth source 185. The one or more processors 810 may initiate the first source emission 450 of the eighth source at the first firing time 452 of the eighth source. For example, the first firing time 452 of the eighth source may be 2590 milliseconds after the first firing time 405 of the first source. The first firing time 452 of the eighth source may occur when the vessel 102 is approximately 5.46 meters away from the position of the vessel 102 when the vessel 102 fired the first source emission 415 of the first source. The data processing system 800 may initiate the first source emission 450 of the eighth source at the known time.

[0057] Figure 5 An example of an undersea object detection system 100 is shown. The undersea object detection system 100 may include a first source 150. The undersea object detection system 100 may include a second source 155. The undersea object detection system 100 may include a third source 160. The undersea object detection system 100 may include a fourth source 165. The undersea object detection system 100 may include a fifth source 170. The undersea object detection system 100 may include a sixth source 175. The undersea object detection system 100 may include a seventh source 180. The undersea object detection system 100 may include an eighth source 185.

[0058] The data processing system 800 may calculate the second activation time 510 of the second source. The one or more processors 810 may calculate the second activation time 510 of the second source. The data processing system 800 may identify the second activation time 510 of the second source. The one or more processors 810 may identify the second activation time 510 of the second source. The one or more processors 810 may calculate the second activation time 510 of the second source. For example, the one or more processors 810 may identify the second activation time 510 of the second source based on the speed of the vessel 102. The one or more processors 810 may identify that the second activation time 510 of the second source should occur at a predetermined time after the first activation time 460 of the first source. For example, the one or more processors 810 may identify that the second activation time 510 of the second source should occur 3330 milliseconds after the first activation time 460 of the first source. The one or more processors 810 may determine that the second activation time 510 of the second source should occur 3330 milliseconds after the first activation time 460 of the first source. The activation time 410 of the second source may be the time of the second source 155.

[0059] The data processing system 800 may initiate a second source emission 520 of the second source at a second firing time 510 of the second source. The one or more processors 810 may calculate the second firing time 510 of the second source. The data processing system 800 may initiate the second source emission 520 of the second source. The one or more processors 810 may initiate the second source emission 520 of the second source. The second source emission 520 of the second source may be the source emission 215 of the second source 155. The second source emission 520 of the second source may be an acoustic signal of the second source 155. The second source emission 520 of the second source may be an acoustic wave of the second source 155. The one or more processors 810 may initiate the second source emission 520 of the second source at the second firing time 510 of the second source. For example, the second firing time 510 of the second source may be 3330 milliseconds after the first firing time 405 of the first source. The second firing time 510 of the second source may occur when the vessel 102 is approximately 7.03 meters away from the position of the vessel 102 when the vessel 102 fired the first source emission 415 of the first source. Data processing system 800 may initiate second source transmission 520 of a second source at a known time.

[0060] The data processing system 800 may calculate a time interval between the first firing time 460 of the first source and the second firing time 560 of the first source. The one or more processors 810 may calculate a time interval between the first firing time 460 of the first source and the second firing time 560 of the first source. The data processing system 800 may calculate a time interval between the first firing time of the first source emission of the first source 150 and the second firing time of the second source emission of the first source. The one or more processors 810 may calculate a time interval between the first firing time 460 of the first source emission of the first source and the second firing time of the second source emission of the first source. The data processing system 800 may calculate a time interval between the first firing time 460 of the first source and the second firing time 560 of the first source based on the speed of the vessel 102. The one or more processors 810 may calculate a time interval between the first firing time 460 of the first source and the second firing time 560 of the second source based on the speed of the vessel 102. For example, the time interval between the first firing time 460 of the first source and the second firing time 560 of the first source may be 2960 milliseconds.

[0061] The data processing system 800 may calculate the second activation time 527 of the third source. The one or more processors 810 may calculate the second activation time 527 of the third source. For example, the one or more processors 810 may calculate the second activation time 527 of the third source based on the speed of the vessel 102. The one or more processors 810 may calculate that the second activation time 527 of the third source should occur at a predetermined time after the first activation time 460 of the first source. For example, the one or more processors 810 calculate that the second activation time 527 of the third source should occur 3700 milliseconds after the first activation time 460 of the first source. The one or more processors 810 may determine that the second activation time 527 of the third source should occur 3700 milliseconds after the first activation time 460 of the first source. The second activation time 527 of the third source may be the time of the third source 160.

[0062] The data processing system 800 may initiate the second source emission 525 of the third source at the second firing time 527 of the third source. The one or more processors 810 may initiate the second source emission 525 of the third source at the second firing time 527 of the third source. The second source emission 525 of the third source may be the source emission 215 of the third source 160. The second source emission 525 of the third source may be an acoustic signal of the third source 160. The second source emission 525 of the third source may be an acoustic wave of the third source 160. The one or more processors 810 may initiate the second source emission 525 of the third source at the second firing time 527 of the third source. For example, the second firing time 527 of the third source may be 3700 milliseconds after the first firing time 405 of the first source. The second firing time 527 of the third source may occur when the vessel 102 is approximately 7.81 meters away from the position of the vessel 102 when the vessel 102 fired the first source emission 415 of the first source. The data processing system 800 may initiate the second source emission 525 of the third source at the known time.

[0063] The data processing system 800 may calculate the second activation time 532 of the fourth source. The one or more processors 810 may calculate the second activation time 532 of the fourth source. For example, the one or more processors 810 may calculate the second activation time 532 of the fourth source based on the speed of the vessel 102. The one or more processors 810 may calculate that the second activation time 532 of the fourth source should occur at a predetermined time after the first activation time 460 of the first source. For example, the one or more processors 810 calculate that the second activation time 532 of the fourth source should occur 4070 milliseconds after the first activation time 460 of the first source. The one or more processors 810 may determine that the second activation time 532 of the fourth source should occur 4070 milliseconds after the first activation time 460 of the first source. The second activation time 532 of the fourth source may be the time of the fourth source 165.

[0064] The data processing system 800 may initiate the second source emission 530 of the fourth source at the second firing time 532 of the fourth source. The one or more processors 810 may initiate the second source emission 530 of the fourth source at the second firing time 532 of the fourth source. The second source emission 530 of the fourth source may be the source emission 215 of the fourth source 165. The second source emission 530 of the fourth source may be an acoustic signal of the fourth source 165. The second source emission 530 of the fourth source may be an acoustic wave of the fourth source 165. The one or more processors 810 may initiate the second source emission 530 of the fourth source at the second firing time 532 of the fourth source. For example, the second firing time 532 of the fourth source may be 4070 milliseconds after the first firing time 405 of the first source. The second firing time 532 of the fourth source may occur when the vessel 102 is approximately 8.59 meters away from the position of the vessel 102 when the vessel 102 fired the first source emission 415 of the first source. The data processing system 800 may initiate the second source emission 530 of the fourth source at the known time.

[0065] The data processing system 800 may calculate the second activation time 537 of the fifth source. The one or more processors 810 may calculate the second activation time 537 of the fifth source. For example, the one or more processors 810 may calculate the second activation time 537 of the fifth source based on the speed of the vessel 102. The one or more processors 810 may calculate that the second activation time 537 of the fifth source should occur at a predetermined time after the first activation time 460 of the first source. For example, the one or more processors 810 calculate that the second activation time 537 of the fifth source should occur 4440 milliseconds after the first activation time 460 of the first source. The one or more processors 810 may determine that the second activation time 537 of the fifth source should occur 4440 milliseconds after the first activation time 460 of the first source. The second activation time 537 of the fifth source may be the time of the fifth source 170.

[0066] The data processing system 800 may initiate the second source emission 535 of the fifth source at the second firing time 537 of the fifth source. The one or more processors 810 may initiate the second source emission 535 of the fifth source at the second firing time 537 of the fifth source. The second source emission 535 of the fifth source may be the source emission 215 of the fifth source 170. The second source emission 535 of the fifth source may be the acoustic signal of the fifth source 170. The second source emission 535 of the fifth source may be the acoustic wave of the fifth source 170. The one or more processors 810 may initiate the second source emission 535 of the fifth source at the second firing time 537 of the fifth source. For example, the second firing time 537 of the fifth source may be 4440 milliseconds after the first firing time 405 of the first source. The second firing time 537 of the fifth source may occur when the vessel 102 is approximately 9.37 meters away from the position of the vessel 102 when the vessel 102 fired the first source emission 415 of the first source. The data processing system 800 may initiate the second source emission 535 of the fifth source at the known time.

[0067] The data processing system 800 may calculate the second activation time 542 of the sixth source. The one or more processors 810 may calculate the second activation time 542 of the sixth source. For example, the one or more processors 810 may calculate the second activation time 542 of the sixth source based on the speed of the vessel 102. The one or more processors 810 may calculate that the second activation time 542 of the sixth source should occur at a predetermined time after the first activation time 460 of the first source. For example, the one or more processors 810 calculate that the second activation time 542 of the sixth source should occur 4810 milliseconds after the first activation time 460 of the first source. The one or more processors 810 may determine that the second activation time 542 of the sixth source should occur 4810 milliseconds after the first activation time 460 of the first source. The second activation time 542 of the sixth source may be the time of the sixth source 175.

[0068] The data processing system 800 may initiate the second source emission 540 of the sixth source at the second firing time 542 of the sixth source. The one or more processors 810 may initiate the second source emission 540 of the sixth source at the second firing time 542 of the sixth source. The second source emission 540 of the sixth source may be the source emission 215 of the sixth source 175. The second source emission 540 of the sixth source may be the acoustic signal of the sixth source 175. The second source emission 540 of the sixth source may be the acoustic wave of the sixth source 175. The one or more processors 810 may initiate the second source emission 540 of the sixth source at the second firing time 542 of the sixth source. For example, the second firing time 542 of the sixth source may be 4810 milliseconds after the first firing time 405 of the first source. The second firing time 542 of the sixth source may occur when the vessel 102 is approximately 10.15 meters away from the position of the vessel 102 when the vessel 102 fired the first source emission 415 of the first source. The data processing system 800 may initiate the second source emission 540 of the sixth source at the known time.

[0069] The data processing system 800 may calculate the second activation time 547 of the seventh source. The one or more processors 810 may calculate the second activation time 547 of the seventh source. For example, the one or more processors 810 may calculate the second activation time 547 of the seventh source based on the speed of the vessel 102. The one or more processors 810 may calculate that the second activation time 547 of the seventh source should occur at a predetermined time after the first activation time 460 of the first source. For example, the one or more processors 810 calculate that the second activation time 547 of the seventh source should occur 5180 milliseconds after the first activation time 460 of the first source. The one or more processors 810 may determine that the second activation time 547 of the seventh source should occur 5180 milliseconds after the first activation time 460 of the first source. The second activation time 547 of the seventh source may be the time of the seventh source 180.

[0070] The data processing system 800 may initiate the second source emission 545 of the seventh source at the second activation time 547 of the seventh source. The one or more processors 810 may initiate the second source emission 545 of the seventh source at the second activation time 547 of the seventh source. The second source emission 545 of the seventh source may be the source emission 215 of the seventh source 180. The second source emission 545 of the seventh source may be the acoustic signal of the seventh source 180. The second source emission 545 of the seventh source may be the acoustic wave of the seventh source 180. The one or more processors 810 may initiate the second source emission 545 of the seventh source at the second activation time 547 of the seventh source. For example, the second activation time 547 of the seventh source may be 5180 milliseconds after the first activation time 405 of the first source. The second activation time 547 of the seventh source may occur when the vessel 102 is approximately 10.93 meters away from the position of the vessel 102 when the vessel 102 activates the first source emission 415 of the first source. The data processing system 800 may initiate the second source emission 545 of the seventh source at a known time.

[0071] The data processing system 800 may calculate the second activation time 552 of the eighth source. The one or more processors 810 may calculate the second activation time 552 of the eighth source. For example, the one or more processors 810 may calculate the second activation time 552 of the eighth source based on the speed of the vessel 102. The one or more processors 810 may calculate that the second activation time 552 of the eighth source should occur at a predetermined time after the first activation time 460 of the first source. For example, the one or more processors 810 calculate that the second activation time 552 of the eighth source should occur 5550 milliseconds after the first activation time 460 of the first source. The one or more processors 810 may determine that the second activation time 552 of the eighth source should occur 5550 milliseconds after the first activation time 460 of the first source. The second activation time 552 of the eighth source may be the time of the eighth source 185.

[0072] The data processing system 800 may initiate the second source emission 550 of the eighth source at the second activation time 552 of the eighth source. The one or more processors 810 may initiate the second source emission 550 of the eighth source at the second activation time 552 of the eighth source. The second source emission 550 of the eighth source may be the source emission 215 of the eighth source 185. The second source emission 550 of the eighth source may be the acoustic signal of the eighth source 185. The second source emission 550 of the eighth source may be the acoustic wave of the eighth source 185. The one or more processors 810 may initiate the second source emission 550 of the eighth source at the second activation time 552 of the eighth source. For example, the second activation time 552 of the eighth source may be 5550 milliseconds after the first activation time 405 of the first source. The second activation time 552 of the eighth source may occur when the vessel 102 is approximately 11.71 meters away from the position of the vessel 102 when the vessel 102 activates the first source emission 415 of the first source. The data processing system 800 may initiate the second source emission 550 of the eighth source at the known time.

[0073] The data processing system 800 may initiate a third source emission 575 of a first source. The one or more processors 810 may initiate a third source emission 575 of a first source. The one or more processors 810 may initiate a third source emission 575 of a first source at a third location 595 of the first source. The third location 595 of the first source may be 12.5 meters from the first location 405 of the first source. The third location 595 of the first source may be less than 12.5 meters from the first location 405 of the first source. The third location 595 of the first source may be greater than 12.5 meters from the first location 405 of the first source. The data processing system 800 may initiate a third source emission 575 of the first source at a known location. The data processing system 800 may initiate a third source emission 575 of the first source at a known time.

[0074] The data processing system 800 may calculate a time interval 555 between the second firing time 560 of the first source and the second firing time 510 of the second source. The one or more processors 810 may calculate a time interval 555 between the second firing time 560 of the first source and the second firing time 510 of the second source. The data processing system 800 may calculate a time interval 555 between the second firing time 560 of the first source and the second firing time 510 of the second source of less than 1 second. For example, the data processing system 800 may calculate a time interval 555 between the second firing time 560 of the first source and the second firing time 510 of 370 milliseconds.

[0075] The data processing system 800 may delay the firing time. The data processing system 800 may delay the firing time of the third source emission 575 of the first source. The one or more processors 810 may delay the firing time. The one or more processors 810 may delay the firing time of the third source emission 575 of the first source. For example, the data processing system 800 may delay the firing time of the third source emission 575 of the first source by a calculated amount of time. The data processing system 800 may delay the firing time of the second source emission by a calculated amount of time based on the speed of the vessel 102. The data processing system 800 may delay the firing time of the third source emission 575 of the first source by a calculated amount of time based on the position of the vessel 102. The one or more processors 810 may delay the firing time of the third source emission 575 of the first source by a calculated amount of time based on the speed of the vessel 102. The one or more processors 810 may delay the firing time of the third source emission 575 of the first source by a calculated amount of time based on the position of the vessel 102.

[0076] The data processing system 800 may speed up the firing time. The data processing system 800 may speed up the firing time of the third source emission 575 of the first source. The one or more processors 810 may speed up the firing time. The one or more processors 810 may speed up the firing time of the third source emission 575 of the first source. For example, the data processing system 800 may speed up the firing time of the third source emission 575 of the first source by a calculated amount of time. The data processing system 800 may speed up the firing time of the second source emission by a calculated amount of time based on the speed of the vessel 102. The data processing system 800 may speed up the firing time of the third source emission 575 of the first source by a calculated amount of time based on the position of the vessel 102. The one or more processors 810 may speed up the firing time of the third source emission 575 of the first source by a calculated amount of time based on the speed of the vessel 102. The one or more processors 810 may speed up the firing time of the third source emission 575 of the first source by a calculated amount of time based on the position of the vessel 102.

[0077] Figure 6An example subsea object detection system 100 is shown. The subsea object detection system 100 may include a source array 127. The source array 127 may be towed as part of a first pass 605. For example, the source array 127 towed as part of the first pass 605 may define a first path 615. The vessel 102 may tow the source array 127 as part of the first pass 605. The source array 127 may be towed as part of a second pass 610. For example, the source array 127 towed as part of the second pass 610 may define a second path 620. The vessel 102 may tow the source array 127 as part of the first pass 605. The first path 615 may be interleaved with the second path 620. For example, the source array 127 towed during the first pass 605 may trace the first path 615. The source array 127 towed during the second pass 610 may trace the second path 620. The first path 615 and the second path 620 may overlap.

[0078] The seabed object detection system 100 performs a survey. The survey may include a first pass 605 and a second pass 610. The first pass 605 may be performed in a pattern (e.g., an elliptical pattern, an oval pattern, an oblique circular pattern, a circular pattern). For example, the vessel 102 may tow the source array 127 as part of the first pass 605. The vessel 102 may tow the receiver array 105 as part of the first pass 605. The vessel 102 may tow the source array 127 as part of the second pass 610. The second pass 610 may be performed in a pattern (e.g., an elliptical pattern, an oval pattern, an oblique circular pattern, a circular pattern). The vessel 102 may tow the receiver array 105 as part of the second pass 610. The first pass 605 may be a distance 625 from the second pass 610. The vessel 102 may tow the source array 127 as part of the first pass 605 away from the second pass 610 by a distance 625. Vessel 102 may tow receiver array 105 as part of first pass 605 a distance 625 from second pass 610 .

[0079] The seafloor object detection system 100 may include an offset 625 between the first path 615 and the second path 620. For example, the second source 155 during the first pass 605 may include an offset 625 from the second source 155 during the second pass 610. The first source 150 during the first pass 605 may include an offset 625 from the first source 150 during the second pass 610. The fourth source 165 during the first pass 605 may include an offset 625 from the fourth source 165 during the second pass 610. The third source 160 during the first pass 605 may include an offset 625 from the third source 160 during the second pass 610. For example, the streamer 125 during the first pass 605 may include an offset 625 from the streamer 125 during the second pass 610. The vessel 102 during the first pass 605 may include an offset 625 from the vessel 102 during the second pass 610.

[0080] The seafloor object detection system 100 may include a vessel 102 configured to tow a receiver array 105 and a source array 127. The vessel 102 may tow the receiver array 105 and the source array 127 during a first pass 605. The first pass 605 may be performed in a pattern (e.g., an elliptical pattern, an oval pattern, an oblique circular pattern, a circular pattern). For example, the vessel 102 may tow the source array 127 as part of the first pass 605. The vessel 102 may tow the receiver array 105 as part of the first pass 605.

[0081] The vessel 102 may tow the receiver array 105 and the source array 127 during the second pass 610. The vessel 102 may tow the source array 127 as part of the second pass 610. The vessel 102 may tow the receiver array 105 as part of the second pass 610. The second pass 610 may be conducted in a pattern (e.g., an elliptical pattern, an oval pattern, an oblique circular pattern, a circular pattern). For example, the vessel 102 may tow the source array 127 as part of the second pass 610. The vessel 102 may tow the receiver array 105 as part of the second pass 610.

[0082] The vessel 102 during the first pass 605 may be located at a distance 625 from the vessel 102 during the second pass 610. The distance 625 may be based on the number of streamers 115 and the distance between the streamers 115. The distance 625 may be the number of streamers 115 multiplied by the distance between the streamers divided by 2. For example, the number of streamers may be eight. The distance between two streamers in the streamers 115 may be 12.5 m. Thus, the distance 625 may be 50 m. The number of streamers employed may be an integer multiple of 2. The number of streamers employed may be equal to or greater than 4. The number of sources employed may be a multiple of the number of streamers employed.

[0083] Figure 7 Subsea target detection method is illustrated. Briefly, method 700 may include providing a source array (box 705). Method 700 may include determining a first source position (box 710). Method 700 may include identifying an excitation time (box 715). Method 700 may include initiating a first source emission (box 720). Method 700 may include determining a target position (box 725). Method 700 may include determining an estimated position (box 730). Method 700 may include determining a second position of the source (box 735). Method 700 may include initiating a second source emission (box 740). Method 700 may include receiving diffraction data (box 745). Method 700 may include receiving reflection data (box 750).

[0084] The method 700 may include providing a source array (block 705). The method may include providing a source array 127 including a first source 150. The method may include providing a source array 127 including a second source 155. The method may include providing a source array 127 including a third source 160. The method may include providing a source array 127 including a fourth source 165. The method may include providing a source array 127 including a fifth source 170. The method may include providing a source array 127 including a sixth source 175. The method may include providing a source array 127 including a seventh source 180. The method may include providing a source array 127 including an eighth source 185. The method may include towing the source array 127 by the vessel 102. The method may include towing the source array by the vessel 102 in a towing direction 101. The method may include generating source emissions 215 by the source array 127. The method may include providing a receiver array 105 including a streamer 125.

[0085] The method 700 may include determining a first source location (block 710). The method may include determining, by a data processing system 800, a first location 405 of a first source. The method may include determining, by a data processing system 800 having one or more processors 800, a first location 405 of a first source. The method may include determining, by one or more processors 810, a first location 405 of a first source.

[0086] The method 700 may include identifying a firing time (block 715). The method may include identifying, by the data processing system 800, a first firing time 410 of a second source. The method may include identifying, by the one or more processors 810, a first firing time 410 of a second source. The method may include calculating, by the data processing system 800, the first firing time 410 of the second source. The method may include calculating, by the one or more processors 810, the first firing time 410 of the second source. The method may include calculating, by the data processing system 800, a second firing time 510 of the second source. The method may include calculating, by the one or more processors 810, a second firing time 510 of the second source.

[0087] The method may include calculating, by the data processing system 800, a first firing time 427 of a third source. The method may include calculating, by the one or more processors 810, a first firing time 427 of the third source. The method may include calculating, by the data processing system 800, a second firing time 527 of the third source. The method may include calculating, by the one or more processors 810, a second firing time 527 of the third source. The method may include calculating, by the data processing system 800, a first firing time 432 of a fourth source. The method may include calculating, by the one or more processors 810, a first firing time 432 of a fourth source. The method may include calculating, by the data processing system 800, a second firing time 532 of the fourth source. The method may include calculating, by the one or more processors 810, a second firing time 532 of the fourth source.

[0088] The method 700 may include initiating a first source emission (block 720). The method may include initiating, by the data processing system 800, a first source emission 415. The method may include initiating, by the data processing system 800, a first source emission 415 at a first location 405 of the first source. The method may include initiating, by the one or more processors 810, a first source emission 415 of the first source. The method may include initiating, by the one or more processors 810, a first source emission 415 of the first source at a first location 405 of the first source. The method may include initiating, by the data processing system 800, a first source emission 420 of the second source. The method may include initiating, by the data processing system 800, a first source emission 420 of the second source at a first firing time 410 of the second source. The method may include initiating, by the one or more processors 810, a first source emission 420 of the second source. The method may include initiating, by the one or more processors 810, a first source emission 420 of the second source at a first firing time 410 of the second source.

[0089] The method 700 may include determining a target location (block 725). The method may include determining, by the data processing system 800, the target location 493 of the first source 150. The method may include determining, by the one or more processors 810, the target location 493 of the first source 150. The method may include determining, by the data processing system 800, the target location 493 of the first source 150. The method may include determining, by the data processing system 800, the target location 493 of the first source 150. The target location 493 may be 6.25 meters from the first location 405 of the first source. The target location may be less than 10 meters from the first location 405 of the first source. The target location may be greater than 10 meters from the first location 405 of the first source.

[0090] The method 700 may include determining an estimated location (block 730). The method may include determining, by the data processing system 800, the estimated location 490 of the first source 150. The method may include determining, by the one or more processors 810, the estimated location 490 of the first source 150.

[0091] The method 700 may include determining a second location of the source (block 735). The method may include determining, by the data processing system 800, the second location 495 of the first source. The method may include determining, by the data processing system 800, the second location 495 of the first source based on a difference between the target location 493 and the estimated location 490. The method may include determining, by the one or more processors 810, the second location 495 of the first source. The method may include determining, by the one or more processors 810, the second location 495 of the first source based on a difference between the target location 493 and the estimated location 490.

[0092] The method 700 may include initiating a second source emission (block 740). The method may include initiating, by the data processing system 800, a second source emission 475 of the first source at the second location 495 of the first source. The method may include initiating, by the one or more processors 810, a second source emission 475 of the first source at the second location 495 of the first source. The method may include initiating, by the data processing system 800, a second source emission 520 of the second source at the second firing time 510 of the second source. The method may include initiating, by the one or more processors 810, a second source emission 520 of the second source at the second firing time 510 of the second source. The method may include initiating, by the data processing system 800, a first source emission 425 of the third source at the first firing time 427 of the third source. The method may include initiating, by the one or more processors 810, a first source emission 427 of the third source at the first firing time 427 of the third source. The method may include initiating, by the data processing system 800, a first source emission 430 of the fourth source at the first firing time 432 of the fourth source. The method may include initiating, by the one or more processors 810, a first source emission 430 of the fourth source at the first firing time 432 of the fourth source.

[0093] The method 700 may include initiating, by the data processing system 800, a first source emission 435 of a fifth source at a first firing time 437 of the fifth source. The method may include initiating, by the one or more processors 810, a first source emission 435 of the fifth source at the first firing time 437 of the fifth source. The method may include initiating, by the data processing system 800, a first source emission 440 of a sixth source at a first firing time 442 of a sixth source. The method may include initiating, by the one or more processors 810, a first source emission 440 of the sixth source at the first firing time 442 of the sixth source. The method may include initiating, by the data processing system 800, a first source emission 445 of a seventh source at a first firing time 447 of a seventh source. The method may include initiating, by the one or more processors 810, a first source emission 445 of the seventh source at the first firing time 447 of the seventh source. The method may include initiating, by the one or more processors 810, a first source emission 450 of the seventh source at the first firing time 452 of the seventh source. The method may include initiating, by the data processing system 800, a first source emission 450 of an eighth source at the first firing time 452 of the eighth source. The method may include initiating, by the one or more processors 810, a first source emission 450 of the eighth source at the first firing time 452 of the eighth source.

[0094] The method 700 may include initiating, by the data processing system 800, a second source emission 525 of the third source at a second activation time 527 of the third source. The method may include initiating, by the one or more processors 810, a second source emission 525 of the third source at the second activation time 527 of the third source. The method may include initiating, by the data processing system 800, a second source emission 530 of the fourth source at a second activation time 532 of the fourth source. The method may include initiating, by the one or more processors 810, a second source emission 530 of the fourth source at the second activation time 532 of the fourth source.

[0095] The method 700 may include initiating, by the data processing system 800, a second source emission 535 of the fifth source at the second firing time 537 of the fifth source. The method may include initiating, by the one or more processors 810, a second source emission 535 of the fifth source at the second firing time 537 of the fifth source. The method may include initiating, by the data processing system 800, a second source emission 540 of the sixth source at the second firing time 542 of the sixth source. The method may include initiating, by the one or more processors 810, a second source emission 540 of the sixth source at the second firing time 542 of the sixth source.

[0096] The method 700 may include initiating, by the data processing system 800, a second source emission 545 of the seventh source at the second activation time 547 of the seventh source. The method may include initiating, by the one or more processors 810, a second source emission 545 of the seventh source at the second activation time 547 of the seventh source. The method may include initiating, by the data processing system 800, a second source emission 550 of the eighth source at the second activation time 552 of the eighth source. The method may include initiating, by the one or more processors 810, a second source emission 550 of the eighth source at the second activation time 552 of the eighth source.

[0097] The method 700 may include calculating the time interval 455 between the first firing time 460 of the first source and the first firing time 410 of the second source. The method 700 may include calculating, by the data processing system 800, the time interval 455 between the first firing time 460 of the first source and the first firing time 410 of the second source. The method 700 may include calculating, by the one or more processors 810, the time interval 455 between the first firing time 460 of the first source and the first firing time 410 of the second source. The method 700 may include calculating, by the data processing system 800, the time interval 455 between the first firing time 460 of the first source and the first firing time 410 of the second source based on the speed of the vessel 102. The method 700 may include calculating, by the one or more processors 810, the time interval 455 between the first firing time 460 of the first source and the first firing time 410 of the second source based on the speed of the vessel 102. The method may include calculating, by the data processing system 800, the time interval 455 between the first firing time 460 of the first source and the first firing time 410 of the second source that is less than 1 second. The method may include calculating, by the one or more processors 810 , a time interval 455 of less than 1 second between the first firing time 460 of the first source and the first firing time 410 of the second source.

[0098] The method 700 may include calculating a time interval between the first firing time 460 of the first source and the second firing time 560 of the first source. The method 700 may include calculating, by the data processing system 800, a time interval 455 between the first firing time 460 of the first source and the second firing time 560 of the first source. The method 700 may include calculating, by the one or more processors 810, a time interval between the first firing time 460 of the first source and the second firing time 560 of the first source. The method 700 may include calculating, by the data processing system 800, a time interval 455 between the first firing time 460 of the first source and the second firing time 560 of the first source based on the speed of the vessel 102. The method 700 may include calculating, by the one or more processors 810, a time interval between the first firing time 460 of the first source and the second firing time 560 of the first source based on the speed of the vessel 102. The method may include calculating, by the data processing system 800, a time interval between the first firing time 460 of the first source and the second firing time 560 of the first source based on the speed of the vessel 102. The method may include calculating, by the data processing system 800 , a fixed time interval between the first firing time 410 of the second source and the first firing time 427 of the third source.

[0099] The method 700 may include receiving diffraction data (block 745). The method may include receiving, by the receiver array 105, diffraction data including diffraction waves originating from a seafloor target and generated from the source emission 215. The method may include receiving, by the receiver array 105, diffraction data diffracted from a target in the seafloor. The method may include receiving, by the receiver array 105, diffraction waves originating from a target in the seafloor 220. A plurality of receivers 110 in the receiver array 105 may receive the diffraction data. The diffraction data may include diffraction waves 205 diffracted from a seafloor target that is smaller than the Fresnel zone. The Fresnel zone is a reflection region from which most reflected energy is returned, and the arrival time of the reflection differs from the arrival time of the energy propagated from the energy source by less than half a cycle. Waves with such arrival times may coherently interfere and be detected by a single arrival. Therefore, it may be difficult to detect reflected waves from a target that is smaller than the Fresnel zone. However, a plurality of receivers 110 of the receiver array 105 may detect diffraction waves 205 from a target that is smaller than the Fresnel zone. The method may include providing a plurality of receivers 110.

[0100] Method 700 may include receiving reflection data (block 750). The method may include receiving, by receiver array 105, reflection data reflected from a target in the seafloor. Source array 127 may generate source emission 215. Source emission may pass through a medium (e.g., seawater) and reflect from a seafloor target. Seafloor target 210 may be completely buried in seafloor 220. Seafloor target 210 may be partially buried in seafloor 220. Seafloor target 210 may include small shallow targets such as boulders. The width of a small shallow target may be between 10 cm and 100 cm (e.g., 20 cm, 30 cm, 40 cm, 50 cm, 60 cm, 70 cm, 80 cm, 90 cm, 100 cm). Small shallow targets may be larger than 100 cm. These small shallow targets may be smaller than 10 cm. Waves reflected from seafloor target 210 may include reflection data. Reflection data may include reflected waves. Receiver array 105 may receive reflection data. For example, receiver array 105 may receive reflected waves. Receivers in the plurality of receivers 110 may receive reflected waves 305. Reflection data may include reflected waves 305 originating from seafloor target 210. Reflection data may include reflected waves 305 generated from source emission 215. The plurality of sources of source array 127 may generate acoustic signals. The plurality of receivers 110 in receiver array 105 may receive reflection data reflected from a target in seafloor 220. Reflection data may include reflected waves 305. Receivers in the plurality of receivers 110 may receive reflected waves 305 reflected from a target in seafloor 220 and generated by a source in the plurality of sources in source array 127.

[0101] The method 700 may include providing a receiver array 105. The receiver array 105 may include a plurality of receivers 110 disposed on a plurality of streamers. The method may include towing the receiver array 105 and the source array 127 by the vessel 102. The vessel 102 may include towing the receiver array 105 and the source array 127 by the vessel 102 during a first pass 605. The method may include towing the receiver array 105 and the source array 127 by the vessel 102 during a first pass 610. The vessel 102 during the first pass 605 may be located at a distance 625 from the vessel 102 during the second pass 610. The distance 625 may depend on the number of the plurality of streamers and the distance between the plurality of streamers.

[0102] Figure 8 Describe the implementation Figure 1-Figure 3 A block diagram of the architecture of a computing system depicting the various elements of the system or components. Figure 8 is a block diagram of a data processing system including a computer system 800 according to an embodiment. The data processing system, computer system, or computing device 800 may be used to implement a method configured to filter, convert, transform, generate, analyze, or otherwise process Figure 1-Figure 3The computing system 800 includes a bus 805 or other communication component for communicating information and a processor 810 or processing circuit coupled to the bus 805 for processing information. The computing system 800 may also include one or more processors 810 or processing circuits coupled to the bus for processing information. The computing system 800 may also include a main memory 815 such as a random access memory (RAM) or other dynamic storage device coupled to the bus 805 for storing information and instructions to be executed by the processor 810. The main memory 815 may also be used to store seismic data, binning function data, images, reports, tuning parameters, executable code, temporary variables, or other intermediate information during the execution of instructions by the processor 810. The computing system 800 may further include a read-only memory (ROM) 820 or other static storage device coupled to the bus 805 for storing static information and instructions for the processor 810. A storage device 825 (e.g., a solid-state device, a magnetic disk, or an optical disk) is coupled to the bus 805 for permanent storage of information and instructions.

[0103] The computing system 800 may be coupled to a display 835 or display device, such as a liquid crystal display, or an active matrix display, via the bus 805 for displaying information to a user. An input device 830, such as a keyboard including alphanumeric and other keys, may be coupled to the bus 805 for communicating information and command selections to the processor 810. The input device 830 may include a touch screen display 835. The input device 830 may also include a cursor controller, such as a mouse, trackball, or cursor direction keys, for communicating direction information and command selections to the processor 810 and for controlling cursor movement on the display 835.

[0104] The processes, systems, and methods described herein may be implemented by the computing system 800 in response to the processor 810 executing the instruction structures contained in the main memory 815. Such instructions may be read into the main memory 815 from another computer-readable medium, such as a storage device 825. The execution of the instruction structures contained in the main memory 815 causes the computing system 800 to perform the illustrative processes described herein. One or more processors of a multi-processing configuration may also be employed to execute the instructions contained in the main memory 815. In some implementations, hard-wired circuitry may be used in place of or in conjunction with software instructions to implement the illustrative implementations. Therefore, the embodiments are not limited to any specific combination of hardware circuitry and software.

[0105] Although Figure 8An exemplary computing system has been described in the specification, but embodiments of the subject matter and functional operations described in this specification may be implemented in other types of digital electronic circuits, or in computer software, firmware, or hardware (including the structures disclosed in this specification and their structural equivalents), or in a combination of one or more of them.

[0106] The subject matter and operation embodiments described in this specification may be implemented in digital electronic circuits or computer software, firmware or hardware (including the structures disclosed in this specification and their structural equivalents), or a combination of one or more of them. The subject matter described in this specification may be implemented as one or more computer programs (e.g., one or more circuits of computer program instructions) encoded on one or more computer storage media for execution by a data processing device or for controlling the operation of a data processing device. Alternatively or in addition, program instructions may be encoded on artificially generated propagation signals, such as electrical, optical or electromagnetic signals generated by a machine, which are generated to encode information for transmission to a suitable receiver device for execution by a data processing device. A computer storage medium may be or be included in a computer-readable storage device, a computer-readable storage substrate, a random or serial access memory array or device, or a combination of one or more of them. In addition, although a computer storage medium is not a propagation signal, a computer storage medium may be a source or destination of computer program instructions encoded in an artificially generated propagation signal. A computer storage medium may also be or be included in one or more separate components or media (e.g., several CDs, disks or other storage devices).

[0107] The operations described in this specification may be performed by a data processing device on data stored on one or more computer-readable storage devices or received from other sources. The term "data processing device" or "computing device" includes various devices, equipment and machines for processing data, including, for example, a programmable processor, a computer, a system on a chip, or a plurality of the foregoing or a combination thereof. The device may include a dedicated logic circuit, such as an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit). In addition to hardware, the device may also include code that creates an execution environment for the computer program in question, for example, code that constitutes processor firmware, a protocol stack, a database management system, an operating system, a cross-platform runtime environment, a virtual machine, or a combination of one or more thereof. The device and the execution environment may implement a variety of different computing model infrastructures, such as web services, distributed computing, and grid computing infrastructures.

[0108] A computer program (also referred to as a program, software, software application, script, or code) may be written in any form of programming language, including compiled or interpreted languages, declarative or procedural languages, and may be deployed in any form, including as a stand-alone program or as a circuit, component, subroutine, object, or other unit suitable for use in a computing environment. A computer program may, but need not, correspond to a file in a file system. A program may be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in several coordinated files (e.g., files storing one or more circuits, subroutines, or portions of code). A computer program may be deployed for execution on one computer or on several computers located at one site or distributed over several sites and interconnected by a communications network.

[0109] Processors suitable for executing computer programs include, for example, any one or more processors of a microprocessor and a digital computer. The processor may receive instructions and data from a read-only memory or a random access memory or both. The elements of a computer are a processor for performing actions according to instructions and one or more memory devices for storing instructions and data. The computer includes or is operably connected to receive data from or transmit data to or to one or more large-capacity storage devices (such as magnetic disks, magneto-optical disks, or optical disks) for storing data. The computer does not need to have such a device. In addition, the computer may be built into another device, such as a personal digital assistant (PDA), a global positioning system (GPS) receiver, or a portable storage device (such as a universal serial bus (USB) flash drive), to name just a few. Devices suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, including, for example, semiconductor memory devices, such as EPROM, EEPROM, and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and CD ROM and DVD-ROM disks. The processor and memory may be supplemented by or incorporated into a dedicated logic circuit.

[0110] To provide interaction with a user, embodiments of the subject matter described in this specification may be implemented on a computer having a display device, such as a CRT (cathode ray tube) or LCD (liquid crystal display) monitor and a keyboard for displaying information to the user, and a pointing device, such as a mouse or trackball, through which the user can provide input to the computer. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback, such as visual feedback, auditory feedback, or tactile feedback; and any form of input from the user may be received, including acoustic, voice, or tactile input.

[0111] The embodiments described herein can be implemented in any of a variety of ways, including, for example, using hardware, software, or a combination thereof. When implemented in software, the software code can be executed on any suitable processor or processor collection, whether provided in a single computer or distributed in several computers.

[0112] Likewise, a computer may have one or more input and output devices. Among other things, these devices may be used to present a user interface. Examples of output devices that may be used to provide a user interface include a printer or display screen for visual presentation of the output and a speaker or other sound generating device for auditory presentation of the output. Examples of input devices that may be used for a user interface include a keyboard and a pointing device, such as a mouse, a touch pad, and a digitized tablet computer. As another example, a computer may receive input information through speech recognition or other auditory formats.

[0113] These computers can be interconnected in any suitable form through one or more networks, including local area networks or wide area networks (such as enterprise networks) and intelligent networks (IN) or the Internet. Such networks can be based on any suitable technology and can operate based on any suitable protocol, and can include wireless networks, wired networks or fiber optic networks.

[0114] A computer for implementing at least a portion of the functions described herein may include a memory, one or more processing units (also referred to herein as "processors"), one or more communication interfaces, one or more display units, and one or more user input devices. The memory may include any computer-readable medium, and may store computer instructions (also referred to herein as "processor executable instructions") for implementing the various functions described herein. The processing unit may be used to execute instructions. The communication interface may be connected to a wired or wireless network, a bus, or other communication device, and may therefore allow the computer to send communications to or receive communications from other devices. For example, a display unit may be provided to allow a user to view various information related to the execution of instructions. For example, a user input device may be provided to allow a user to make manual adjustments, make selections, enter data or various other information during the execution of instructions, or interact with the processor in any of a variety of ways during the execution of instructions.

[0115] The various methods or processes outlined herein may be encoded as software that can be executed on one or more processors using any of a variety of operating systems or platforms. In addition, such software may be written using any of a number of suitable programming languages ​​or programming or scripting tools, and may also be compiled into executable machine language code or intermediate code that is executed on a framework or virtual machine.

[0116] In this regard, various inventive concepts may be embodied as a computer-readable storage medium (or several computer-readable storage media) (e.g., computer memory, one or more floppy disks, optical disks, optical disks, tapes, flash memory, circuit configurations in field programmable gate arrays or other semiconductor devices or other non-transitory media or tangible computer storage media), which is encoded with one or more programs that, when executed on one or more computers or other processors, perform methods of implementing various embodiments of the solution discussed above. The computer-readable medium or multiple computer-readable media may be removable, so that the one or more programs stored thereon can be loaded onto one or more different computers or other processors to implement various aspects of the present solution as discussed above.

[0117] In this document, the term "program" or "software" is used to refer to any type of computer code or computer executable instruction set that can be used to program a computer or other processor to implement various aspects of the above-described embodiments. One or more computer programs that perform the methods of the present solution need not reside on a single computer or processor, but can be distributed in a modular manner among multiple different computers or processors to implement various aspects of the present solution.

[0118] Computer executable instructions can be in various forms, such as program modules, which are executed by one or more computers or other devices. Program modules include routines, programs, objects, components, data structures, and other components that perform specific tasks or implement specific abstract data types. Generally, in various embodiments, the functions of program modules can be combined or distributed as needed.

[0119] Likewise, data structures may be stored in a computer-readable medium in any suitable form. To simplify the description, data structures are shown as having fields that are associated by location in the data structure. Such relationships may also be achieved by allocating storage space for the fields, which have location information in the computer-readable medium that conveys the relationship between the fields. However, any suitable mechanism may be used to establish the relationship between the information in the fields of the data structure, including by using pointers, tags, or other mechanisms that establish relationships between data elements.

[0120] Any reference to an embodiment or element or action of a system and method mentioned in the singular herein may include an embodiment comprising a plurality of these elements, and any reference to a plural form of any embodiment or element or action herein may include an embodiment comprising only a single element. References in the singular or plural form are not intended to limit the currently disclosed system or method, their parts, actions or elements to a single or multiple configurations. References to any action or element based on any information, action or element may include an embodiment of the action or element based at least in part on any information, action or element.

[0121] Any embodiment disclosed herein may be combined with any other embodiment, and references to "an embodiment," "some embodiments," "alternative embodiments," "various embodiments," "one embodiment," etc. are not necessarily mutually exclusive and are intended to indicate that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment. These terms as used herein do not necessarily all refer to the same embodiment. Any embodiment may be combined, inclusively or exclusively, with any other embodiment in any manner consistent with the aspects and embodiments disclosed herein.

[0122] References to "or" may be interpreted as inclusive, such that any term described using "or" may indicate any of a single, more than one, and all of the described terms. References to at least one of a joint list of terms may be interpreted as inclusive OR to indicate any of a single, more than one, and all of the described terms. For example, references to "at least one of 'A' and 'B'" may include only "A," only "B," and "'A' and 'B'." Elements other than "A" and "B" may also be included.

[0123] The systems and methods described herein may be embodied in other specific forms without departing from their characteristics.The foregoing embodiments are illustrative rather than limiting of the described systems and methods.

[0124] Where a technical feature in the drawings, detailed description or any claim is followed by a reference numeral, the reference numeral is included to increase the intelligibility of the drawings, detailed description and claims. Therefore, neither the reference numerals nor their absence will have any limiting effect on the scope of any claim element.

[0125] The systems and methods described herein may be embodied in other specific forms without departing from their characteristics. The foregoing embodiments are illustrative rather than limiting of the described systems and methods. Therefore, the scope of the systems and methods described herein is indicated by the appended claims rather than the preceding description, and changes brought about by the meaning and scope of the equivalents of the claims are also included therein.

Claims

1. A seabed target detection system (100), comprising: A source array (127) having a first source (150, 405, 415, 460, 475, 495) and a second source (155, 410, 420); A data processing system (800) having one or more processors (810), wherein the data processing system (800) is configured to: determining a first position of the first source (150, 405, 415, 460, 475, 495); identifying a first activation time of the second source (155, 410, 420); initiating first source emission of said first source (150, 405, 415, 460, 475, 495) at said first location of said first source (150, 405, 415, 460, 475, 495); Initiating a first source emission of the second source (155, 410, 420) at the first excitation time of the second source (155, 410, 420); determining a target position (493) of the first source (150, 405, 415, 460, 475, 495), wherein the target position (493) represents a position at which a second source emission of the first source (150, 405, 415, 460, 475, 495) is initiated; determining an estimated position (490) of the first source (150, 405, 415, 460, 475, 495), the estimated position (190) representing a position of the first source (150, 405, 415, 460, 475, 495) between initiation of the first source transmission of the first source (150, 405, 415, 460, 475, 495) and initiation of the second source transmission of the first source (150, 405, 415, 460, 475, 495); calculating a time interval between the first source emission of the first source (150, 405, 415, 460, 475, 495) and the second source emission of the first source (150, 405, 415, 460, 475, 495); determining a second position of the first source (150, 405, 415, 460, 475, 495) based on a difference between the target position (493) and the estimated position (490); as well as Initiating the second source transmission of the first source (150, 405, 415, 460, 475, 495) at the second position of the first source (150, 405, 415, 460, 475, 495), if the estimated position (490) is farther from the first position of the first source (150, 405, 415, 460, 475, 495) than the target position (493), the second source transmission is initiated earlier than the calculated time interval, and if the estimated position (490) is closer to the first position of the first source (150, 405, 415, 460, 475, 495) than the target position (493), the second source transmission is initiated later than the calculated time interval.

2. The seabed target detection system (100) according to claim 1, comprising the data processing system (800) being used for: calculating a second excitation time of the second source (155, 410, 420); and A second source emission of the second source (155, 410, 420) is initiated at the second excitation time of the second source (155, 410, 420).

3. The seabed target detection system (100) according to claim 1, comprising: The source array (127) includes a third source (160, 425, 427) and a fourth source (165, 430, 432); The data processing system (800) is used to: Calculating a first excitation time of the third source (160, 425, 427) and a first excitation time of the fourth source (165, 430, 432); as well as A first source emission of the third source (160, 425, 427) is initiated at a first energizing time of the third source (160, 425, 427) and a first source emission of the fourth source (165, 430, 432) is initiated at the first energizing time of the fourth source (165, 430, 432).

4. The seabed target detection system (100) according to claim 1, comprising: The data processing system (800) calculates a time interval between a first activation time of the first source (150, 405, 415, 460, 475, 495) and a second activation time of the first source (150, 405, 415, 460, 475, 495) based on the speed of the vessel (102).

5. The seabed target detection system (100) according to claim 1, comprising: The data processing system (800) calculates a time interval between a first activation time of the first source (150, 405, 415, 460, 475, 495) and the first activation time of the second source (155, 410, 420).

6. The seabed target detection system (100) according to claim 1, comprising: The data processing system (800) delays the excitation time of the second source emission of the first source (150, 405, 415, 460, 475, 495).

7. The seabed target detection system (100) according to claim 1, comprising: The data processing system (800) accelerates the excitation time of the second source emission of the first source (150, 405, 415, 460, 475, 495).

8. The seabed target detection system (100) according to claim 1, comprising: The data processing system (800) calculates a time interval of less than 1 second between a first activation time of the first source (150, 405, 415, 460, 475, 495) and the first activation time of the second source (155, 410, 420).

9. The seabed target detection system (100) according to claim 1, comprising: The source array (127) is used to generate source emissions (215); a receiver array (105) including a streamer (125); as well as A plurality of receivers (110) are coupled to the streamer (125), the plurality of receivers (110) being used to receive diffraction data including diffraction waves originating from a seafloor target and generated from the source emission (215).

10. The seabed target detection system (100) according to claim 1, comprising: The source array (127) is used to generate source emissions (215); a receiver array (105) including a streamer (125); as well as A plurality of receivers (110) are coupled to the streamer (125), and the plurality of receivers (110) are used to receive reflection data reflected from a target in the seabed (220).

11. The seabed target detection system (100) according to claim 1, comprising: a receiver array (105) including a streamer (125); A plurality of receivers (110) coupled to the streamer (125); as well as A vessel (102) is used to tow the receiver array (105) and the source array (127).

12. The seabed target detection system (100) according to claim 1, comprising: A receiver array (105) comprising a plurality of receivers (110) disposed on a plurality of streamers (115); A vessel (102) for towing the receiver array (105) and the source array (127), wherein: The vessel (102) tows the receiver array (105) and the source array (127) during a first pass (605); and The vessel (102) tows the receiver array (105) and the source array (127) during a second pass (610); and The vessel (102) during the first pass (605) is located at a distance from the vessel (102) during the second pass (610), the distance being dependent on the number of the plurality of streamers (115) and the distance between the plurality of streamers (115).

13. A method (700) for detecting a seabed target, comprising: providing (705) a source array including a first source and a second source; determining (710), by a data processing system having one or more processors, a first location of the first source; identifying (715), by the data processing system, a first activation time of the second source; initiating (720), by the data processing system, a first source emission by the first source at the first location of the first source; initiating (720), by the data processing system, a first source emission of the second source at the first activation time of the second source; determining (725), by the data processing system, a target location of the first source, wherein the target location represents a location at which a second source emission from the first source is initiated; determining (730), by the data processing system, an estimated position of the first source, the estimated position representing a position of the first source between initiation of the first source emission of the first source and initiation of the second source emission of the first source; calculating, by the data processing system, a time interval between the first source emission of the first source and the second source emission of the first source; determining (735), by the data processing system, a second position of the first source based on a difference between the target position and the estimated position; as well as A second source emission of the first source at the second position of the first source is initiated (740) by the data processing system, the second source emission being initiated earlier than the calculated time interval if the estimated position is farther from the first position of the first source than the target position, and the second source emission being initiated later than the calculated time interval if the estimated position is closer to the first position of the first source than the target position.

14. The method (700) of claim 13, comprising: calculating, by the data processing system, a second excitation time of the second source; as well as A second source emission of the second source is initiated by the data processing system at the second activation time of the second source.

15. The method (700) of claim 13, comprising: providing the source array including a third source and a fourth source; Calculating, by the data processing system, a first excitation time of the third source and a first excitation time of the fourth source; as well as A first source emission of the third source is initiated by the data processing system at the first activation time of the third source and a first source emission of the fourth source is initiated at the first activation time of the fourth source.

16. The method (700) of claim 13, comprising: A time interval between a first firing time of the first source and a second firing time of the first source is calculated by the data processing system based on a speed of the vessel.

17. The method (700) of claim 13, comprising: A time interval between a first firing time of the first source and the first firing time of the second source is calculated by the data processing system.

18. The method (700) of claim 13, comprising: A time interval of less than 1 second between a first firing time of the first source and the first firing time of the second source is calculated by the data processing system.

19. The method (700) of claim 13, comprising: generating source emissions from the source array; providing a receiver array including a streamer, and A plurality of receivers coupled to the streamers are provided for receiving diffraction data including diffraction waves originating from seafloor targets and emitted from the source.

20. The method (700) of claim 13, comprising: providing a receiver array comprising a plurality of receivers disposed on a plurality of streamers; towing the receiver array and the source array by a vessel; towing the receiver array and the source array by the vessel during a first pass; as well as towing the receiver array and the source array by the vessel during a second pass, Wherein the vessel during the first pass is located at a distance from the vessel during the second pass, the distance being dependent on the number of the plurality of streamers and the distance between the plurality of streamers.

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