Apparatus and method for generating echo trajectory of moving object for set of pulse widths

Abstract

The present disclosure provides an apparatus (250) and method (900) for generating an echo trajectory for a set of pulse widths. The apparatus (250) has an antenna (316) for receiving echo information (254) of a source wave (252) from a target object (204) at the vessel (202). A processing circuit (406) is configured to generate a plurality of processed echo information sets from the received echo information (254). The received echo information (254) corresponds to a first pulse width of the echo trajectory. Comprising a plurality of echo trajectories ET (1) to ET (N) of the target object (204) is stored in a storage module (408). An echo trajectory of the plurality of echo trajectories ET (1) to ET (N) is selected by a selection module (410) based on a second pulse width set by the user. A synthesizer module (412) synthesizes a display output (334) based on the selected echo trajectory.

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to object detection techniques, and more particularly to an apparatus and method for generating an echo trail of a moving object for a set of pulse widths. BACKGROUND

[0002] Moving bodies in marine environments, such as ships, vessels, barges, boats, and the like, are commonly used to transport people and cargo across the globe and for other various applications. Devices installed on moving bodies or fixed monitoring stations, such as radio detection and ranging (RADAR) and sound navigation and ranging (SONAR) systems, for detecting, ranging, and monitoring are used to identify moving and fixed objects in marine environments. Such devices emit electromagnetic (in RADAR) or acoustic pressure waves that sweep across other objects or bodies in the marine environment. The electromagnetic or acoustic pressure waves reflect from a target object (e.g., a target vessel or ship). The reflected electromagnetic or acoustic pressure waves received by the aforementioned devices are referred to as echoes. The echoes are generally considered to be signals that carry information about the distance, speed, direction, position, heading, and the like of the target object. Using the echo information, the position, direction, translational speed, and the like of the target object can be determined by the relevant device, such as a RADAR or SONAR.

[0003] The position of the target object can also be displayed on a display screen along with an echo trail. An echo trail is a technique for providing a visual representation of the motion (e.g., path and speed) of surrounding moving bodies by superimposing several received echoes from several respective RADAR or SONAR scans. Information such as the direction of travel and speed of a moving body can be obtained and displayed in substantially real-time. Echo trails can be of great help to an observer in assessing marine traffic in a predefined vicinity of the observer in real-time, whether the observer is on a ship or a barge, or they are at a fixed monitoring station. Echo trails can be relative or true. A relative echo trail shows the relative movement between the observer and the target object. A relative echo trail gives an early indication of the risk of collision that exists. Furthermore, when combined with true vectors, a relative echo trail indicates the relative movement of a target object, such as the other vessel. A true echo trail presents the true target movement, which depends on the speed and course of the target object. The duration of the echo trail can be adjusted according to the observer’s requirements. For example, a user (e.g., an observer of the display screen) can set a time period in which a target object needs to be monitored, in other words, the duration of the echo trail to be displayed can be set by the observer. The observer can also set one of the pulse widths in which a target object needs to be monitored. Pulse width refers to the time period between the leading edge and the trailing edge of a single pulse of energy. The electromagnetic or acoustic pressure waves reflected from a target object are a function of the peak energy of the pulse, the pulse width, and the pulse repetition frequency. Based on the newly set pulse width, the echo trail and echoes of the target object are displayed on the display screen.

[0004] In the prior art, there are several defects in systems and methods for generating and displaying echo tracks. For example, when an observer changes the pulse width, it is difficult to judge the echo track of the newly set pulse width because the echo track can partially disappear or deteriorate over a certain period of time. In this regard, several solutions have been proposed to at least partially address the aforementioned defects.

[0005] US Patent US7,768,447B2 discloses a method and apparatus for processing a sensing signal. A method includes recording a sensing image sensed at a first detection range and outputting the sensing image to a display. The method also includes recording additional information displayed on the screen and outputting the additional information to the display. When the first detection range is changed to or has been changed to a second detection range, a new image is calculated from the recorded sensing image using an image manipulation computer function so that the calculated image fits the new scale of the second detection range. The calculated image is recorded. A change to the recorded additional information is calculated to adjust the additional information to the new scale of the changed range, and the calculated additional information is recorded. In this method, even if the additional information is added to the new scale, deterioration and disappearance of the echo track will occur due to the time involved in processing the additional information. Furthermore, in this method, the track deteriorates each time the display area is repeatedly changed. In some cases, the track becomes discontinuous due to different settings (e.g., pulse width) used by different display areas.

[0006] PTL1: US Patent US7768447B2.

[0007] Figure 1A A block diagram of a processor circuit 100 for processing echo information 102 in a conventional RADAR device according to the prior art is shown. Echoes received by an antenna 104 from a target object (not shown in FIG. 1) include echo information 102 indicating the distance, speed, direction, position, etc. of the target object. A storage module 106 stores the received echo information 102, and a synthesizer module 108 synthesizes a display output 110 including echoes and echo tracks. The display output 110 is displayed on a display unit 112. When an observer changes a display parameter such as a display range, a width of an echo track, a time period of an echo track, etc., the echo track can have an inconsistent (or discontinuous) width on the display unit 112. The RADAR is configured to scale (enlarge / reduce) or clear the stored echo track when the user changes the pulse width. Thus, deterioration in image quality and / or disappearance of a portion of the echo track can occur completely, making it difficult for the observer to objectively check the information provided by the echo track immediately after the pulse width has been changed.

[0008] Figure 1BThis diagram illustrates a conventional RADAR device according to existing technology, including an echo trajectory and an echo display output (e.g., 120, 130, 140). By changing the pulse width of the electromagnetic wave, the shape of the received echo is changed, thus changing the shape of the echo trajectory without changing the width of the echo trajectory. Therefore, Figure 1B Conventional RADAR devices do not expand the echo track based on changes in pulse width. In this method, the echo track 122 of the previously set pulse width will appear together with the echo track of the newly set pulse width. The echo track 122 of the previously set pulse width will disappear over a period of time. Therefore, due to the simultaneous display of two echo tracks, it will be difficult to determine the status of the target object until the echo track 122 of the previous pulse width disappears. Pulse width refers to the time period between the leading and trailing edges of a single energy pulse. The electromagnetic wave reflected from the target object is a function of the peak energy of the pulse, the pulse width, and the pulse repetition frequency. Increasing the pulse width increases the amount of energy reflected from the target, thereby increasing the range at which the object can be detected.

[0009] like Figure 1B As shown, display output 120 represents an echo trajectory image with echo trajectories 122 and 124 of the target object. Display output 120 corresponds to the current pulse width in the display unit (for a preset display range). When the user changes the pulse width to a new pulse width, there is degradation and disappearance of the echo trajectory image in display output 120. For example, when the pulse width increases, as shown in display output 130, the echo trajectory image will show a new echo 134 with echo trajectories 122 and 132. Echo trajectories 122 and 132 represent the echo trajectories of the previous pulse width and the new pulse width, respectively. When the pulse width decreases, as shown in display output 140, the echo trajectory image will have a new echo 144 with echo trajectories 122 and 142. Echo trajectories 122 and 142 represent the echo trajectories of the previous pulse width and the new pulse width, respectively. The position of the antenna in display outputs 120, 130, and 140 is also... Figure 1B As shown in the diagram. Therefore, instead of only displaying the echo and echo trajectory of the selected pulse width, the echo and echo trajectory of the previously set pulse width are also displayed on the display unit. This makes it difficult to track and locate the target object.

[0010] Therefore, in addition to providing other technical advantages, there is a need for techniques that reduce the degradation and disappearance of echo trajectory images and make it easier for observers to immediately assess the situation after a change in pulse width. Summary of the Invention

[0011] To address the aforementioned problems and provide additional advantages, one aspect of this disclosure is to provide a method comprising receiving echo information from a target object at a vessel via an antenna. The method further comprises generating a plurality of processed echo information sets from the received echo information by processing circuitry. The plurality of processed echo information sets correspond to a plurality of predefined pulse widths and display ranges set by a user. The method further comprises storing the plurality of processed echo information sets by a plurality of storage modules. The plurality of processed echo information sets include a plurality of echo trajectories corresponding to a plurality of predefined pulse widths (for a preset display range) at the target object. The method further comprises selecting an echo trajectory from a plurality of echo trajectories from a plurality of storage modules by a selection module based on a second pulse width set by a user (e.g., an observer of the display unit). The second pulse width is set from a plurality of predefined pulse widths. The method further comprises synthesizing a display output by a synthesizer module based on the echo trajectory selected by the selection module.

[0012] In one aspect, the method also includes a display output by a display unit showing echo information including the echo trajectory selected by the selection module and the second pulse width of multiple source waves.

[0013] In one aspect, the method also includes accepting a second pulse width set by the user via a user interface.

[0014] In one aspect, the second pulse width is set by the user by changing the first pulse width to the second pulse width.

[0015] In one aspect, the method further includes processing the echo information by processing circuitry to generate multiple sets of processed echo information for multiple predefined pulse widths based on the received echo information.

[0016] In one aspect, the method also includes generating multiple sets of processed echo information with arbitrary pulse widths from the received echo information by a processing circuit.

[0017] In one aspect, the method further includes generating multiple sets of processed echo information by processing circuitry through one or more steps of scaling, filtering, matching, linear interpolation, and linear extrapolation on the echo information.

[0018] An apparatus (also referred to as a sensing device) for generating echo images is disclosed. The sensing device includes an antenna configured to receive echo information from a target object at a vessel, consisting of multiple source waves of a first pulse width. The sensing device also includes processing circuitry configured to generate multiple sets of processed echo information from the received echo information. The multiple sets of processed echo information correspond to multiple pulse widths and display ranges set by a user. The sensing device further includes multiple storage modules configured to store the multiple sets of processed echo information. The multiple sets of processed echo information include multiple echo trajectories of the target object. The sensing device also includes a selection module configured to select an echo trajectory from the multiple echo trajectories from a corresponding storage module among the multiple storage modules based on a second pulse width set by the user. The second pulse width is set from multiple predefined pulse widths. The sensing device also includes a synthesizer module configured to synthesize a display output based on the echo trajectory selected by the selection module and the echo information of the second pulse width received by the antenna.

[0019] In one aspect, the sensing device further includes a display unit configured to display the display output including the echo trajectory selected by the selection module and the echo information of the second pulse width received by the antenna.

[0020] In one aspect, the sensing device further includes a user interface configured to accept a second pulse width set by the user. The second pulse width is set by the user by changing the first pulse width to the second pulse width.

[0021] In one aspect, the processing circuit is also configured to process the echo information to generate multiple sets of processed echo information for multiple predefined pulse widths based on the received echo information.

[0022] In one aspect, the processing circuit is further configured to generate the plurality of processed echo information sets from the received echo information for any pulse width.

[0023] In one aspect, the processing circuitry is also configured to generate multiple sets of processed echo information by performing one or more steps of scaling, filtering, matching, linear interpolation, and linear extrapolation on the echo information.

[0024] The advantage of various implementations is that they provide a display output that does not suffer from degradation and disappearance of the echo trajectory image when the pulse width is changed by the user. This disclosure provides a sensing apparatus and method for generating echo trajectories. Echo information received from several RADAR or SONAR scans is used to generate echo trajectories of a target object (such as surrounding vessels) for several different pulse widths. The generated echo trajectories can then be stored in multiple storage modules. When the pulse width changes from one different value to another, the stored echo trajectory with the newly set pulse width value is selected from the stored echo trajectories and displayed on a display unit to reduce the occurrence of echo trajectory image degradation and disappearance, and to make it easier for the observer to monitor the environment near the observer without significant delay or waiting time after the pulse width change. In this regard, the observer can be located on a mobile barge or mobile vessel, or the observer can be located at a fixed maritime monitoring station, etc. The foregoing description is merely illustrative and is not intended to be limiting in any way. Other aspects, embodiments, and features will become apparent from the accompanying drawings and the following detailed description, in addition to the illustrative aspects, embodiments, and features described above. Attached Figure Description

[0025] The accompanying drawings are included to provide a further understanding of this disclosure, and are incorporated in and form a part of this specification. The drawings illustrate exemplary embodiments of the present disclosure and, together with the description, serve to explain the principles of the disclosure. It should be noted that in the drawings, similar or identical reference numerals refer to the same or functionally similar elements throughout individual views, and are incorporated in and form a part of the specification, further illustrating the disclosed embodiments and, together with the detailed description of the disclosure, serving to explain the principles of the disclosed embodiments.

[0026] These figures are for illustrative purposes only and are not intended to limit this disclosure. Furthermore, those skilled in the art will understand that the figures are not drawn to scale.

[0027] Figure 1A A simplified block diagram of a processing circuit for processing echoes in a conventional RADAR device, according to the prior art, is shown. Figure 1B A schematic diagram of echo and echo in a conventional RADAR device according to the prior art is shown; Figure 2A Example representations of environments associated with at least some example embodiments of this disclosure are shown; Figure 2B At least some example embodiments related to this disclosure are shown. Figure 2A Another example of an environment; Figure 3 A simplified block diagram of a sensing device according to an embodiment of the present disclosure is shown; Figure 4 A schematic diagram of various inputs to the sensing module of a sensing device according to an embodiment of the present disclosure is shown; Figure 5 A schematic diagram of echoes received for a set of configured pulse widths according to an embodiment of the present disclosure is shown; Figure 6 A simplified block diagram of a processing circuit for processing echoes in a sensing device according to an embodiment of the present disclosure is shown. Figure 7 A schematic diagram of an embodiment according to the present disclosure is shown, illustrating exemplary processes involved in processor circuitry for processing echoes in a sensing device; Figure 8A and Figure 8B Examples of echo trajectories having received echo information and processed echo information according to embodiments of the present disclosure are shown respectively; Figure 8C An example representation of the echo trajectory of an echo from a conventional sensing device with processed echo information is shown; and Figure 9 A flowchart is shown of a method for generating echo images of one or more target objects according to an embodiment of the present disclosure. Detailed Implementation

[0028] The following is a detailed description of embodiments of the present disclosure depicted in the accompanying drawings. The embodiments are described in such detail that they clearly convey the present disclosure. However, the amount of detail provided is not intended to limit contemplative variations of the embodiments; rather, it is intended to cover all modifications, equivalents, and alternatives that fall within the scope of the present disclosure as defined by the appended claims.

[0029] In the following description, numerous specific details are outlined to provide a thorough understanding of embodiments of this disclosure. It will be apparent to those skilled in the art that embodiments of this disclosure can be practiced without some of these specific details. It should be understood that the particular values ​​and configurations discussed in the following non-limiting examples may vary and are cited only to illustrate at least one embodiment and are not intended to limit its scope.

[0030] This disclosure relates to a sensing apparatus and method for generating echo trajectories of moving objects for a set of pulse widths. The sensing apparatus, which may be located on a ship or at a fixed monitoring station in the middle of the ocean or on shore, receives echo information objectifying from a target, comprising several echoes, and performs echo information processing, such as scaling, magnification, shrinking, linear interpolation, etc. The received echo information is processed to generate several sets of processed echo information corresponding to several predefined pulse widths. The generated sets of processed echo information are stored in multiple storage modules. When a user changes the pulse width from one value to another, for the new pulse width setting, the echo trajectory stored in the multiple storage modules is retrieved and displayed on a display unit. This reduces the occurrence of echo trajectory image degradation and disappearance due to changes in pulse width and allows the user to easily assess the environment around the ship without any significant delay or waiting time after the pulse width change. It should be noted that the pulse width changes from the current pulse width of the echo trajectory to one of a set of configured pulse widths.

[0031] The set of configured pulse widths corresponds to the display range previously set by the observer. Therefore, for the currently set display range, the set of echo trajectories corresponding to the set of configured pulse widths is stored in multiple storage modules. When the observer changes the pulse width from one configuration value to another, the echo trajectory of the newly set pulse width can be easily retrieved from the corresponding storage module among the multiple storage modules, and a display output including the echo and echo trajectory of the newly set pulse width is displayed on the display unit. The set of configured pulse widths is not limited to small, medium, or large widths (e.g., S1, S2, M1, M2, L1) of the emitted source wave (e.g., electromagnetic wave), and the display range is not limited to, for example, 1.5 NM, 3 NM, 12 NM, etc., where NM represents nautical miles (Nautical Miles) on which the target object needs to be monitored. See below for further details. Figure 2A , Figures 2B to 9 Various implementations of this disclosure are described.

[0032] It should be noted that in this disclosure, the storage module can store one or more pulse widths for the display range set by the user. Based on the received echo information, a set of echo trajectories corresponding to one or more pulse widths and the previously set display range is generated by the processing circuitry of the sensing device and stored in the storage module. When the pulse width changes from one configuration value to another, the echo trajectory of the newly set pulse width can be retrieved from the storage module and displayed to the observer.

[0033] It should be noted that the term "echo track" is interchangeable with "multiple echo tracks," "multiple potential echo tracks," "multiple processed echo information sets," etc. Similarly, the term "pulse width" is interchangeable with "a set of pulse widths," "multiple pulse widths," etc.

[0034] Figure 2A An example representation of an environment 200 related to at least some example embodiments of this disclosure is shown. Environment 200 is, for example, a marine environment 200, which includes one or more vessels (e.g., ships) configured to navigate in a body of water (e.g., ocean). Environment 200 includes one or more objects 202, 204, 206, 208, and 210. Environment 200 also includes a communication base station 212 and a communication network station 214. Communication base station 212 and communication network station 214 are at least wirelessly connected to each of the one or more objects 202, 204, 206, 208, and 210. In this respect, for generating echo trajectories, any one of communication base station 212, communication network station 214, and one or more objects 202, 204, 206, 208, and 210 can act as an observation station, and the remaining objects among the one or more objects 202, 204, 206, 208, and 210 can act as target objects. For example, if either communication base station 212 or communication network station 214 acts as an observation station, then all objects in one or more of objects 204, 206, 208, and 210 will act as target objects. Alternatively, if any one of the objects (e.g., vessel 202) acts as an observation station, then the remaining objects in one or more of objects 202, 204, 206, 208, and 210 (i.e., objects 204, 206, 208, and 210) will act as target objects for generating echo trajectories. However, communication base station 212 and communication network station 214 may not be considered target objects because they are conceived as stationary positions relative to the inertial reference frame.

[0035] In this regard, the observation station (e.g., vessel 202) may be equipped with sensing device 250. Sensing device 250 may be selected from a group consisting of free radio detection and ranging (RADAR) and sound navigation and ranging (SONAR) devices. Sensing device 250 is used to identify moving objects (e.g., vessels 204, 206 and aircraft 210) and stationary objects (e.g., vessel 208) and other systems (not shown) in the marine environment.

[0036] Vessel 202 can be associated with communication base station 212 and communication network station 214. Communication base station 212 and communication network station 214 can be communicatively coupled to vessel 202 via wired or wireless communication.

[0037] Communication base station 212 serves as a central connection point for wireless devices to communicate. Communication base station 212 has a fixed transceiver and acts as the primary communication point for one or more mobile objects (e.g., ships 204, 206, and aircraft 210), stationary objects (e.g., ship 208), and other systems (not shown) in the marine environment 200. Communication base station 212 may have one or more receiving / transmitting antennas, microwave disks, electronic circuits, etc., for handling services such as cellular services, data services, signal services, etc. It acts as a bridge between communication devices and systems in the marine environment 200, such as one or more mobile objects (e.g., ships 204, 206, and aircraft 210), stationary objects (e.g., ship 208), and other systems (not shown).

[0038] Communication network station 214 connects communication equipment and systems within marine environment 200. In marine environment 200, communication equipment and systems are installed in, but not limited to, one or more moving objects (e.g., vessels 204, 206, and aircraft 210), stationary objects (e.g., vessel 208), and other systems (not shown). In one embodiment, the communication equipment and systems in marine environment 200 include devices used for detection, ranging, and monitoring, such as RADAR or SONAR systems mounted on moving bodies or fixed monitoring stations. Communication typically occurs wirelessly, such as via radio channels in telecommunications and computer networks. Communication network station 214 is used for the transmission of information, such as digital bit streams, from one or more transmitters to one or more receivers. Communication network station 214 has a specific capacity for transmitting information, typically measured by its bandwidth in Hz or its data rate in bits per second.

[0039] The sensing device 250 and other communication devices and systems in the marine environment 200 communicate with each other using the communication network station 214 and also with the communication base station 212. In some embodiments, the communication network station 214 acts as a dual-function RADAR communication base station (DFBS). In a DFBS system, the communication base station 212 serves both as a central connection point for wireless device communication and as a sensing device, such as a RADAR, to receive echo signals reflected from targets.

[0040] The sensing device 250 may include one or more components configured to detect a target object (in a static or dynamic state) present within a predetermined range of the vessel 202 (acting as an observation station) and determine one or more parameters associated with the detected target object 204. The one or more parameters associated with the detected target object 204 are not limited to position information, travel information, direction, and speed.

[0041] Figure 2B At least some example embodiments related to this disclosure are shown.Figure 2A Another example representation of environment 200. Sensing device 250 emits multiple source waves 252 by sweeping through several full circles (360 degrees). The multiple source waves 252 reach one or more target objects 204, 206, 208, and 210, and are reflected from one or more target objects 204, 206, 208, and 210. The reflected waves correspond to the multiple source waves 252 received by ship 202 from target object 204, and are referred to as, for example, echo 254.

[0042] Figure 3 A simplified block diagram of a sensing device 250 according to an embodiment of the present disclosure is shown. The sensing device 250 includes a transmitter section 300, a receiver section 302, a display unit 304, and a user interface (UI) 306. The transmitter section 300 may be, but is not limited to, a magnetron, a traveling wave tube, or a transistor amplifier.

[0043] The transmitter section 300 includes a waveform generator 308 for generating a low-power source signal (e.g., radio waves) (e.g., source wave 252). Source wave 252 is emitted from an observation station (e.g., ship 202) for detecting a target object (e.g., target ship 204). The signal generated by the waveform generator 308 is fed to a pulse amplifier 310. In the case of pulsed RADAR, magnetrons are widely used as transmitters, but pulse amplifier 310 can be used whenever high average power is required.

[0044] The transmitter section 300 also includes a pulse modulator 312. The pulse modulator 312 switches the pulse amplifier 310 on and off based on the input pulse generated by the waveform generator 308. A duplexer 314 is used to create isolation between the transmitter section 300 and the receiver section 302. Transmitting the source wave 252 through the transmitter section 300 and receiving the echo 254 through the receiver section 302 can be accomplished using a single antenna 316, such as... Figure 3 As shown. The duplexer 314 allows a single antenna 316 to be used for both transmitting and receiving purposes. When the transmitter section 300 and the receiver section 302 operate at different power levels, the duplexer 314 isolates the transmitter section 300 and the receiver section 302. Therefore, the signal from the pulse amplifier 310 is provided to the antenna 316 via the duplexer 314.

[0045] Antenna 316 also receives echoes 254 from one or more target objects 204, 206, 208, and 210. Information that can be extracted from echoes 254 (referred to as echo information 317) may include the position, orientation, and velocity of one or more target objects 204, 206, and 208. Using echo information 317, the position, orientation, and velocity of target object 204 can be calculated by sensing device 250.

[0046] An example of receiver section 302 is a superheterodyne receiver. A superheterodyne receiver is a radio receiver that uses a mixer to convert the echo 254 into a fixed intermediate frequency (IF) signal, which can be handled more conveniently than the original carrier frequency. Receiver section 302 has a radio frequency (RF) amplifier 318 (e.g., a low-noise RF amplifier). RF amplifier 318 acts as the input stage of receiver section 302. RF amplifier 318 generates RF pulses proportional to the echo 254 of source wave 252. In one embodiment, RF amplifier 318 acts as the input stage of receiver section 302. In another embodiment, mixer 320 acts as the input stage amplifier 318 by eliminating RF. Mixer 320 mixes the output of RF amplifier 318 with the output of local oscillator 322, and the output of mixer 320 is fed into IF amplifier 324. In IF amplifier 324, the RF pulses received from mixer 320 are converted into IF pulses. The IF pulses generated by mixer 320 are amplified by IF amplifier 324. The IF amplifier 324 acts as a matched filter and increases the signal-to-noise ratio (SNR) of the echo 254. Furthermore, it enhances the echo detection capability of the receiver section 302 by reducing the influence of unwanted signals. The bandwidth of the receiver section 302 is related to the bandwidth of the IF amplifier 324.

[0047] The receiver section 302 also includes a detector 326 (e.g., a crystal diode) to demodulate the echo 254 by separating the source wave 252 from the carrier wave. A video amplifier 328 amplifies the echo 254 to a level that can be displayed on the display unit 304. A threshold decision unit 330 determines the presence of the target object 204 in the marine environment 200. The threshold decision unit 330 is set with a threshold that is compared to the amplitude of the source wave 252. If the threshold decision unit 330 exceeds the threshold, then the presence of the target object 204 is confirmed. Otherwise, it is assumed that only noise components exist in the wave received by the antenna 316.

[0048] Display unit 304 illustrates the display output 334 of receiver section 302. The range and position of target object 204 are displayed on display unit 304 by mapping target object 204 in polar coordinates. In one embodiment, display unit 304 utilizes a planned position indicator (PPI) implemented using a cathode ray tube (CRT). Display output 334 modulates the electron beam of the CRT to allow the electron beam to sweep outward from the center of the CRT. Sweeping represents a rotation synchronized with the pointing of antenna 316.

[0049] Antenna 316 acts as a transceiver for transmitting source wave 252 around vessel 202. Antenna 316 also receives echo 254 from target object 204. Sensing module 332 processes the received echo 254 and sends echo information 317 (e.g., the position, orientation, velocity of the target object) in the form of an echo image to display unit 304. Sensing device 250 also has a UI 306 for allowing a user to input display parameters. In one embodiment, UI 306 allows the user to change the pulse width of the current echo trace in display unit 304 to any value or a predefined and configured pulse width.

[0050] Sensing device 250 processes received echo 254 of the currently set pulse width and generates multiple potential echo traces for each configurable range (also referred to as "multiple pulse widths"). The multiple potential echo traces for each configurable pulse width range are stored in multiple storage modules ( Figure 2B not shown in the figure).

[0051] The user can use UI 306 to select a pulse width from the multiple pulse widths. Based on the display parameters (i.e., pulse width) set by the user, the display output of target object 204 is adjusted in display unit 304. The multiple pulse widths are a set of pulse widths configurable using sensing device 250. Examples of the multiple pulse widths are not limited to multiple pulse widths such as S1, S2, M1, M2, M3, L (e.g., S1 and S2 represent short pulse width ranges, M1, M2, and M3 represent intermediate pulse width ranges, and L represents a long pulse width range, where S1 < S2 < M1 < M2 < M3 < L). Based on the selected pulse width, the display output (e.g., echo and echo trace) of the target object is displayed on display unit 304.

[0052] In one embodiment of the present disclosure, sensing module 332 generates multiple sets of processed echo information from the received echo information 317. The received echo information 317 corresponds to the first pulse width of the current echo trace in display unit 304. The first pulse width represents the current pulse width of the echo trace in display unit 304. The user can change the pulse width by selecting a new pulse width from the multiple pulse widths using UI 306. The new pulse width selected by the user represents the second pulse width. That is, the user using UI 306 changes the pulse width from the first pulse width to the second pulse width. The detailed steps of processing the echo by sensing module 332 are depicted in Figure 6 the figure.

[0053] Sensing device 250 is configured to locate objects (e.g., target ships 204, 206, 208, and 210) existing within a predetermined area of ​​ship 202 based on received reflected source waves (e.g., echoes 254) intercepted by target ships (e.g., target ships 204, 206, 208, and 210). Furthermore, sensing device 250 is configured to determine the coordinates of the target ships (e.g., target ships 204, 206, 208, and 210) and the distance between ship 202 and each of the target ships (e.g., target ships 204, 206, 208, and 210). The distance between ship 202 and the target ships (e.g., target ships 204, 206, 208, and 210) is calculated based on the time measured between the emission of source wave 252 and the reception of echo 254. Sensing device 250 can extract echo information 317 from received echoes 254, such as the position, orientation, and velocity of one or more target objects (e.g., target vessels 204, 206, 208, and 210). More specifically, sensor module 332 is capable of processing echoes 254 and extracting the position, orientation, and velocity of one or more target objects (e.g., target vessels 204, 206, 208, and 210) from echoes 254.

[0054] The sensing module is also configured to generate multiple sets of processed echo information from the received echo 254. The received echo 254 corresponds to the first pulse width of the current echo trajectory in the display unit 304. Multiple sets of processed echo information, including multiple echo trajectories of a target object (e.g., ship 204), are stored in multiple storage modules. Figure 3 (Not shown in the image). Selected by the module ( Figure 3 (Not shown in the image) The synthesizer module selects an echo track from multiple echo tracks based on a second pulse width set by the user. Figure 3 (Not shown) The display output 334 is synthesized based on the echo trajectory selected by the selection module. When the pulse width changes from one different value to another, a stored echo trajectory for the newly set pulse width value is selected from the stored echo trajectories and displayed on the display unit 304. This reduces the occurrence of degradation and disappearance of the echo trajectory image displayed on the display unit 304.

[0055] Figure 4A schematic diagram showing various inputs 402 (e.g., position information, travel information, direction, and speed) to the sensing module 332 of the sensing device 250 according to an embodiment of the present disclosure. Echo information 317 is received by the sensing device 250 of the ship 202 from a plurality of target objects 404 (e.g., moving ships 204, 206, stationary ship 208, and aircraft 210). The sensing device 250 also receives data from or transmits data to the communication base station 212. The echo information 317 includes, but is not limited to, the inputs 402 of one or more of the target objects (204, 206, 208, or 210). The sensing module 332 has a processing circuit 406, a plurality of storage modules 408, a selection module 410, and a synthesizer module 412.

[0056] The processing circuit 406 is configured to generate a plurality of processed echo information sets from the received echoes 254. The plurality of processed echo information sets correspond to a plurality of pulse widths (also referred to as "a plurality of predefined pulse widths") and a display range set by the user. The received echo 254 corresponds to the first pulse width of the current echo trajectory in the display unit 304. The plurality of processed echo information sets including the echo trajectories of the target objects (e.g., 204) are stored in the plurality of storage modules 408. The echo trajectory in the plurality of echo trajectories is selected by the selection module 410 based on a second pulse width set by the user. The synthesizer module 412 synthesizes a display output 334 based on the echo trajectory selected by the selection module 410. The synthesizer module 412 generates a display output 334 including the echo trajectory selected by the selection module 410 and the received echo information 317.

[0057] Figure 5 A schematic diagram showing the echoes (502, 504, 506, and 508) received for a set of configured pulse widths (M1, S2, M2, and M3) according to an embodiment of the present disclosure. The display unit 304 can be configured in two or more display ranges, such as range R1, range R2, and range R3. The user can set the display range (e.g., range R1) and the pulse width (e.g., M1). For the display range R1, the observer can change from the current pulse width (also referred to as the "first pulse width") to a new pulse width (also referred to as the "second pulse width", e.g., S2, M2, M3). For example, if the first pulse width is M1 (where S2 < M < M2 < M3), the observer can change the pulse width from M1 to S2. The observer can also change the pulse width from M1 to S2 or from M1 to M3. Since the display range remains constant for a given set of configured pulse widths, in the display output 334, only the widths of the echoes and the echo trajectories change according to the new pulse width set by the observer. As Figure 5As shown, echo 502 represents an echo received for a pulse width M1 (i.e., the first pulse width) set by the user. Echoes 504, 506, and 508 represent echoes generated for corresponding pulse widths S1, M2, and M3 (e.g., processed echo information). The user can change the pulse width M1 (i.e., the first pulse width) to at least one of the pulse widths S1, M2, and M3 (i.e., the second pulse width).

[0058] Figure 6 A simplified block diagram of a sensing module 332 for processing echo information 317 in a sensing device 250 according to an embodiment of the present disclosure is shown. It should be noted that, for simplicity, the processing of echo information 317 in the receiver section 302 has been omitted, and Figure 6 The processing of echo information 317 in sensing module 332 is described in detail. Sensing module 332 has an echo image processing circuit 406 (also referred to as "processing circuit 406" or "processor circuit 406") for processing the echo information 317 received by antenna 316. Processing circuit 406 generates multiple sets of processed echo information from the received echo information 317. The sets of processed echo information represent multiple echo tracks ET(1) to ET(N) (where N is an integer), and each echo track corresponds to multiple pulse widths. Multiple echo tracks ET(1) to ET(N) are generated based on the received echo information 317. Therefore, depending on the configuration of at least sensing device 250 and the settings in display unit 304 (e.g., pulse width and display range), multiple echo tracks ET(1) to ET(N) of target object 204 are generated by processor circuit 406.

[0059] Sensing module 332 has one or more storage modules, such as storage module 602 and multiple storage modules 408 (also referred to as "storage modules 408"). Storage module 602 stores echo trajectories ET'(1) corresponding to the current pulse width (i.e., the first pulse width). Multiple storage modules 408 may be, for example, storage modules 408(1) to 408(N) (where N is an integer). Processor circuit 406 generates multiple echo trajectories ET(1) to ET(N) based on the received echo information 317. Each of the multiple echo trajectories ET(1) to ET(N) of the generated target object 204 corresponds to a pulse width configured in sensing module 332. Each of the multiple echo trajectories ET(1) to ET(N) of the generated target object 204 is stored in the corresponding storage module 408(1) to 408(N). Multiple echo trajectories ET(1) to ET(N) (having a range of pulse widths or a set of pulse widths) may correspond to a display range preset by the observer.

[0060] When the user changes the pulse width from the first pulse width to the second pulse width using UI306, the selection module 410 selects the corresponding echo trajectory (one of echo trajectories ET(1) to ET(N)) stored in the corresponding storage module (e.g., one of storage modules 408(1) to 408(N)). The echo trajectory (one of the echo trajectories ET(1) to ET(N) selected based on the second pulse width (i.e., the newly set pulse width)) is displayed on the display unit 304 as display output 334.

[0061] It should be noted that the multiple pulse widths are predefined based on the device specifications of at least one of the sensing device 250 and the display unit 304. The device specifications are not limited to the operating range of the sensing device 250, the processing speed of the sensing module 332 and the processor circuit 406, the frequency of the source wave from the waveform generator 308, etc.

[0062] Synthesizer module 412 displays display output 334 based on the echo trajectory selected by selection module 410. It should be noted that display output 334 includes echo information 317 and the echo trajectory selected based on the new pulse width. Therefore, delays, degradation, and disappearance of the echo trajectory when the pulse width is changed (e.g., from a first pulse width to a second pulse width) can be avoided because the echo trajectory for the selected pulse width is already stored in one of storage modules 408(1) to 408(N) and can be easily retrieved and displayed on display unit 304. In one embodiment of this disclosure, storage modules 408(1) to 408(N) store multiple widths of corresponding echo trajectories ET(1) to ET(N). The echo trajectories ET(1) to ET(N) correspond to multiple predefined pulse widths of the source wave of sensing device 250 (e.g., a RADAR device).

[0063] Figure 7 A schematic diagram of an exemplary process 700 involving the sensing module 332 for processing echoes 254 in the sensing device 250, according to an embodiment of the present disclosure, is shown. Based on echo information 317 received from a target object (e.g., 204) (obtained from echoes 254), the sensing module 332 processes multiple echo information 702 for each pulse width. Multiple echo information 702 for all pulse widths are generated by the sensing module 332 from the received echo information 317. When the echo trajectories ET(1) to ET(N) for all pulse widths of the received echo trajectory are readily available in the corresponding storage modules 408(1) to 408(N), the echo trajectory for the pulse width selected by the user is immediately displayed on the display unit 304 without delay. This reduces the occurrence of echo trajectory image degradation and disappearance, and makes it easier to immediately determine the situation after a change in pulse width.

[0064] Some of the processing performed by the processor circuitry 406 for each configurable pulse width is not limited to one or more of the following steps: Echo scaling: This includes scaling up or down the echo for each configurable pulse width.

[0065] Image filtering: Smoothing the echo after echo scaling Echo size processing: Match the corresponding pulse width set for each display range. Echo size processing can include, but is not limited to, linear interpolation and linear extrapolation. Linear interpolation is a method for constructing new data points within a discrete set of known data points. Therefore, linear interpolation can be used to find new pulse widths between known pulse widths. Linear extrapolation produces a tangent at the end of the known data and extends it beyond that limit. Therefore, linear extrapolation can be used to find new pulse widths exceeding the known pulse widths. This allows the sensing device 250 to operate with more configurable predefined pulse widths.

[0066] Figure 8A and Figure 8B Examples of echo trajectories showing echo trajectories with received echo information and processed echo information according to embodiments of this disclosure are shown respectively. Figure 8A and Figure 8B In the image, the pulse width is changed from M1 to M3. Display output 800 shows the echo trajectory with a pulse width of M1. Display output 810 shows the echo trajectory with a pulse width of M3 (after the change from M1). Clearly, there is no degradation or disappearance of the echo trajectory image, making it easier for the observer to immediately assess the target object's condition after the pulse width change.

[0067] Figure 8C This illustrates an example representation of an echo trajectory with conventional processed echo information. The output 820 indicates the conventional method (see reference). Figure 1B The echo trajectory at the pulse width of M3 in the image (after changing from M1). Clearly, the pulse width of M1 appears together with the pulse width of M3 in the echo trajectory image, making it difficult for the observer to determine the status of the target object. The position of the antenna (e.g., antenna 316) in display outputs 800, 810, and 820 is also... Figures 8A to 8C As shown in the image.

[0068] Figure 9A flowchart of a method 900 for generating an echo image according to an embodiment of the present disclosure is shown. The operations of the flowchart of method 900, and combinations of operations in the flowchart of method 900, can be implemented using various devices, such as hardware, firmware, processors, circuitry, and / or software associated with the execution of one or more computer program instructions. The sequence of operations of method 900 may not necessarily be performed in the same order as presented. Furthermore, one or more operations may be grouped and performed as single steps, or an operation may have several sub-steps that can be performed in parallel or sequentially. Method 900 begins with operation 902.

[0069] At operation 902, method 900 includes receiving echo information 254 of a plurality of source waves 252 from target object 204 by antenna 316 at ship 202.

[0070] At operation 904, method 900 includes generating multiple sets of processed echo information from the received echo information by processing circuitry 406. The received echo information corresponds to a first pulse width of the echo trajectory. Processing circuitry 406 processes echo information 254 to generate multiple sets of processed echo information for multiple predefined pulse widths based on the received echo information. In one embodiment, processing circuitry 406 processes multiple sets of processed echo information from the received echo information for arbitrary pulse widths. The arbitrary pulse width can be set by the user or predefined by the user. In another embodiment, generating multiple sets of processed echo information includes one or more steps of scaling, filtering, matching, linear interpolation, and linear extrapolation of the echo information.

[0071] At operation 906, method 900 includes storing multiple sets of processed echo information by multiple storage modules 408. The multiple sets of processed echo information include multiple echo trajectories ET(1) to ET(N) of the target object 204.

[0072] At operation 908, method 900 includes selection by selection module 410 of a plurality of echo tracks ET(1) to ET(N) from a plurality of storage modules 408 based on a second pulse width set by the user. The second pulse width is set from a plurality of predefined pulse widths. An observer using user interface 306 can change from a first pulse width to a second pulse width. Selection module 410 selects the echo track with the newly set pulse width from the plurality of echo tracks ET(1) to ET(N).

[0073] At operation 910, method 900 includes synthesis by synthesizer module 412, with display output 334 based on the echo trajectory selected by selection module 410. The echoes of the newly set pulse width and the echo trajectory are synthesized and displayed to an observer on display unit 304. In one embodiment, display output 334, including the echo trajectory selected by selection module 410 and the received echo information, is generated by synthesizer module 412.

[0074] refer to Figure 9 One or more operations of the disclosed method or apparatus 250 may be implemented using software comprising computer-executable or machine-readable instructions stored on one or more computer-readable media (e.g., non-transitory computer-readable media, such as one or more optical media disks, volatile memory components (e.g., DRAM or SRAM), or non-volatile memory or storage components (e.g., hard disk drives or solid-state non-volatile memory components, such as flash memory components)) and executed on a computer (e.g., any suitable computer, such as a multifunction device (MFD), a multifunction device black box (MFD-BB), a navigation device, a graph plotter, an electronic graph display and information system (ECDIS), a laptop computer, a netbook, a webbook, a tablet computing device, a smartphone, or other mobile computing device). Such software may execute, for example, on a single local computer or in a network environment using one or more networked computers (e.g., via the Internet, a wide area network, a local area network, a remote web-based server, a client-server network (such as a cloud computing network), or other such networks). Furthermore, any intermediate or final data created and used during the implementation of the disclosed method or system may also be stored on one or more computer-readable media (e.g., non-transitory computer-readable media) and is considered to be within the scope of the disclosed technology. Additionally, any software-based implementation can be uploaded, downloaded, or remotely accessed via suitable communication means. Such suitable communication means include, for example, the Internet, the World Wide Web (WWW), intranets, software applications, cable (including fiber optic cables), magnetic communication, electromagnetic communication (including RF, microwave, and infrared communication), electronic communication, or other such communication means.

[0075] Although this disclosure has been described with reference to specific exemplary embodiments, it should be noted that various modifications and changes can be made to these embodiments without departing from the broad spirit and scope of this disclosure. For example, the various operations, blocks, etc., described herein may be implemented and operated using hardware circuitry (e.g., complementary metal-oxide-semiconductor (CMOS) based logic circuitry), firmware, software, and / or any combination of hardware, firmware, and / or software (e.g., embodied in a machine-readable medium). For example, apparatuses and methods may be embodied using transistors, logic gates, and circuitry (e.g., application-specific integrated circuit (ASIC) circuitry and / or digital signal processor (DSP) circuitry).

[0076] Specifically, the processing circuitry 406 of device 250 and other components can be enabled using software and / or transistors, logic gates, and circuits (e.g., integrated circuit circuits such as ASIC circuits). Various embodiments of this disclosure may include one or more computer programs stored or otherwise embodied on a computer-readable medium, wherein the computer program is configured to cause a processor or computer to perform one or more operations. A computer-readable medium storing, embodying, or encoding a computer program or similar language may be embodied as a tangible data storage device storing one or more software programs configured to cause a processor or computer to perform one or more operations. Such operations may be any steps or operations, as described herein. In some embodiments, any type of non-transitory computer-readable medium may be used to store and provide a computer with a computer. Non-transitory computer-readable media includes any type of tangible storage medium. Examples of non-transitory computer-readable media include magnetic storage media (such as floppy disks, magnetic tapes, hard disk drives, etc.), optical-magnetic storage media (e.g., magneto-optical disks), optical disc read-only memory (CD-ROM), recordable optical disc (CD-R), rewritable optical disc (CD-R / W), digital versatile optical disc (DVD), BD (BLU-RAY®) optical discs, and semiconductor memories (such as mask ROMs, programmable ROMs (PROMs), erasable PROMs (EPROMs), flash memory, random access memory (RAM), etc.). Additionally, tangible data storage devices can be embodied as one or more volatile memory devices, one or more non-volatile memory devices, and / or a combination of one or more volatile memory devices and non-volatile memory devices. In some embodiments, any type of transient computer-readable medium can be used to provide a computer program to a computer. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transient computer-readable media can provide programs to a computer via wired communication lines (e.g., electrical wires and optical fibers) or wireless communication lines.

[0077] Therefore, when the user changes the pulse width, the processing circuit 406 does not allow the echo trajectory image to degrade or disappear. Furthermore, this disclosure allows the observer to easily determine the condition of the target object immediately after the pulse width.

[0078] It should be understood that not all objectives or benefits can necessarily be achieved according to any particular embodiment described herein. Therefore, for example, those skilled in the art will recognize that certain embodiments may be configured to operate in a manner that achieves or optimizes one or more of the advantages taught herein, without necessarily achieving other objectives or benefits as may be taught or suggested herein.

[0079] All the processes described herein can be embodied in software code modules executed by a computing system comprising one or more computers or processors, and can be fully automated via such software code modules. The code modules can be stored on any type of non-transitory computer-readable medium or other computer storage device. Some or all of the methods can be embodied in dedicated computer hardware.

[0080] Many other variations besides those described herein will be apparent from this disclosure. For example, depending on the implementation, certain actions, events, or functions of any algorithm described herein may be performed in a different order, may be added, combined, or omitted entirely (e.g., not all described actions or events are necessary for the practice of the algorithm). Furthermore, in some implementations, actions or events may be performed, for example, through multithreaded processing, interrupt handling, multiple processors or processor cores, or a parallel architecture executed simultaneously on other cores, rather than sequentially. Additionally, different tasks or processes may be performed by different machines and / or computing systems that can run together.

[0081] The various illustrative logic blocks and modules described in conjunction with the embodiments disclosed herein can be implemented or executed by a machine such as a processor. The processor may be a microprocessor, but alternatively, it may be a controller, microcontroller, state machine, a combination thereof, etc. The processor may include circuitry configured to process computer-executable instructions. In another embodiment, the processor includes an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable devices that perform logic operations without processing computable instructions. The processor may also be implemented as a combination of computing devices, such as a combination of a digital signal processor (DSP) and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. Although this document primarily describes digital technologies, the processor may also primarily include analog components. For example, some or all of the signal processing algorithms described herein may be implemented in analog circuitry or mixed analog and digital circuitry. The computing environment may include any type of computer system, including but not limited to microprocessor-based computer systems, mainframe computers, digital signal processors, portable computing devices, computing engines within device controllers or appliances, to name just a few.

[0082] Unless otherwise specified, conditional language such as “can,” “able,” “may,” or “may” is generally understood in context to convey that certain embodiments include certain features, elements, and / or steps that are not included in other embodiments. Therefore, such conditional language is not generally intended to imply that one or more embodiments require features, elements, and / or steps in any way, or that one or more embodiments must include logic for determining, with or without user input or prompts, whether such features, elements, and / or steps are included in any particular embodiment or will be performed in any particular embodiment.

[0083] Unless otherwise specified, disjunctive languages ​​such as the phrase "at least one of X, Y, or Z" are understood in the context to generally indicate that an item, term, etc., can be X, Y, or Z or any combination thereof (e.g., X, Y, and / or Z). Therefore, such disjunctive languages ​​are generally not intended and should not imply that certain embodiments require at least one of X, at least one of Y, or at least one of Z to be present respectively.

[0084] Any process description, element, or block depicted in the flowcharts described herein and / or in the accompanying drawings should be understood as potentially representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or element in the process. As will be understood by those skilled in the art, alternative embodiments are included within the scope of the embodiments described herein, wherein elements or functions may be omitted, performed out of the order shown or discussed, including substantially simultaneously or in reverse order, depending on the functionality involved.

[0085] Unless otherwise explicitly stated, items such as “a” or “an” should generally be interpreted as including one or more of the described items. Therefore, phrases such as “configured to” are intended to include one or more of the described devices. Such one or more of the described devices can also be collectively configured to perform the descriptions. For example, a “processor” configured to perform descriptions A, B, and C can include a first processor configured to perform description A, which works in conjunction with a second processor configured to perform descriptions B and C. The same applies to the use of definite articles used to introduce embodiment descriptions. Furthermore, even when a specific number of introduced embodiment descriptions are explicitly described, those skilled in the art will recognize that such a description should generally be interpreted as meaning at least the number described (e.g., a bare description of “two descriptions” without other modifiers generally means at least two descriptions or two or more descriptions).

[0086] Those skilled in the art will understand that, generally, the terms used herein are intended to be “open-ended” terms (e.g., the term “including” should be interpreted as “including but not limited to”, the term “having” should be interpreted as “having at least”, the term “comprising” should be interpreted as “including but not limited to”, etc.).

[0087] For illustrative purposes, the term "horizontal" as used herein is defined as a plane parallel to the plane or surface of the floor of the area where the described system is used or the described method is performed, regardless of its orientation. The term "floor" may be used interchangeably with the terms "ground" or "water surface." The term "vertical" refers to a direction perpendicular to the horizontal plane just defined. Terms such as "above," "below," "bottom," "top," "side," "higher," "lower," "above," and "below" are defined relative to a horizontal plane.

[0088] As used herein, unless otherwise stated, the terms “attachment,” “connection,” “fitting,” and other such relational terms should be interpreted as including removable, movable, fixed, adjustable, and / or releasable connections or attachments. Connections / attaches can include direct connections and / or connections with an intermediate structure between the two components in question.

[0089] As used herein, numbers preceded by terms such as “approximately,” “about,” and “substantially” include the numbers and also indicate quantities close to the stated amount that still perform the desired function or achieve the desired result. For example, the terms “approximately,” “about,” and “substantially” may refer to a quantity less than 10% of the stated amount. As used herein, features of embodiments disclosed herein are preceded by terms such as “approximately,” “about,” and “substantially” to indicate features with some variability that still perform the desired function or achieve the desired result of the feature.

[0090] It should be emphasized that many changes and modifications can be made to the above embodiments, and its elements should be understood as existing in other acceptable examples. All such modifications and changes are intended to be included within the scope of this disclosure and protected by the appended claims.

[0091] Symbol Explanation 200 Environment Vessels / Objects: 202, 204, 206, 208, 210 212 communication base station 214 Communication Network Station 250 sensing devices More than 252 source waves Echoes 254, 502, 504, 506, and 508 300 transmitter section 302 Receiver Section 304 display unit 306 User Interface (UI) 308 Waveform Generator 310 pulse amplifier 312 pulse modulator 314 duplexer 316 antenna 317 echo information 318RF amplifier 320 mixer 322 local oscillator 324IF amplifier 326 detector 328 Video Amplifier 330 Threshold Decision Unit 332 sensing module 334, 800, 810, 820 display output Input of 402 sensing module 404 Objects / Ships 406 processing circuit Multiple storage modules from 408 / 408(1) to 408(N) 410 Selection Module 412 Synthesizer Module 602 storage module Process in 700 sensing module More than 702 echo messages ET'(1) Echo trajectory of the first pulse width Multiple echo trajectories from ET(1) to ET(N)

Claims

1. A method (900) for generating an echo image, comprising: The antenna (316) receives (902) echo information (317) of multiple source waves (252) with a first pulse width from the target object (204) at the ship (202). The processing circuit (406) generates (904) multiple processed echo information sets from the echo information (317), the multiple processed echo information sets corresponding to multiple pulse widths and display ranges set by the user; The multiple processed echo information sets are stored (906) by multiple storage modules (408), wherein the multiple processed echo information sets include multiple echo trajectories (ET(1) to ET(N)) of the target object (204); The selection module (410) selects (908) an echo trajectory from the plurality of echo trajectories (ET(1) to ET(N)) from the corresponding storage module of the plurality of storage modules (408) based on a second pulse width set by the user, wherein the second pulse width is set from a plurality of predefined pulse widths; and The synthesizer module (412) synthesizes (910) the echo information (317) of the second pulse width received by the antenna (316) based on the echo trajectory selected by the selection module (410) and displays the output (334).

2. The method (900) for generating an echo image according to claim 1, further comprising: The display unit (304) displays the display output (334) including the echo trajectory selected by the selection module (410) and the echo information (317) of the second pulse width received by the antenna (316).

3. The method (900) for generating an echo image according to claim 1, further comprising: The second pulse width set by the user is received by the user interface (306).

4. The method (900) for generating an echo image according to claim 3, wherein: The user sets the second pulse width by changing the first pulse width to the second pulse width.

5. The method (900) for generating an echo image according to claim 1, further comprising: The echo information is processed by the processing circuit (406) to generate, based on the echo information (317), the plurality of processed echo information sets for the plurality of predefined pulse widths.

6. The method (900) for generating an echo image according to claim 5, further comprising: The processing circuit (406) generates the plurality of processed echo information sets from the echo information (317) for any pulse width.

7. The method (900) for generating an echo image according to claim 1, wherein: The processing circuit (406) generates the plurality of processed echo information sets by performing one or more steps of scaling, filtering, matching, linear interpolation and linear extrapolation on the echo information (317).

8. A sensing device (250) for generating echo images, comprising: Antenna (316) is configured to receive echo information (317) of multiple source waves (252) of a first pulse width from a target object (204) at the ship (202). The processing circuit (406) is configured to generate multiple sets of processed echo information from the echo information (317), the multiple sets of processed echo information corresponding to multiple pulse widths and display ranges set by the user; Multiple storage modules (408) are configured to store the multiple sets of processed echo information, wherein the multiple sets of processed echo information include multiple echo trajectories (ET(1) to ET(N)) of the target object; The selection module (410) is configured to select an echo trajectory from a plurality of echo trajectories (ET(1) to ET(N)) from a corresponding storage module among the plurality of storage modules (408) based on a second pulse width set by a user, wherein the second pulse width is set from a plurality of predefined pulse widths; as well as The synthesizer module (412) is configured to synthesize and display the output (334) based on the echo trajectory selected by the selection module (410).

9. The sensing device (250) according to claim 8 further comprises: The display unit (304) is configured to display the display output (334) including the echo information (317) of the echo trajectory selected by the selection module (410) and the second pulse width.

10. The sensing device (250) according to claim 8, further comprising: The user interface (306) is configured to accept the second pulse width set by the user.

11. The sensing device (250) according to claim 10, wherein: The second pulse width is set by the user by changing the user's first pulse width to the second pulse width.

12. The sensing device (250) according to claim 8, wherein: The processing circuit (406) is further configured to process the echo information (317) to generate, based on the echo information (317), the plurality of processed echo information sets for the plurality of predefined pulse widths.

13. The sensing device (250) according to claim 12, wherein: The processing circuit (406) is further configured to generate the plurality of processed echo information sets from the echo information (317) for any pulse width.

14. The sensing device (250) according to claim 8, wherein: The processing circuit (406) is further configured to generate the plurality of processed echo information sets by performing one or more steps of scaling, filtering, matching, linear interpolation and linear extrapolation on the echo information (317).

15. A program for generating an echo image, configured to cause processing circuitry to perform processing, the processing comprising: The antenna (316) receives (902) echo information (317) of multiple source waves (252) with a first pulse width from the target object (204) at the ship (202). The processing circuit (406) generates (904) multiple processed echo information sets from the echo information (317), the multiple processed echo information sets corresponding to multiple pulse widths and display ranges set by the user; The multiple processed echo information sets are stored (906) by multiple storage modules (408), wherein the multiple processed echo information sets include multiple echo trajectories (ET(1) to ET(N)) of the target object (204); The selection module (410) selects (908) an echo trajectory from the plurality of echo trajectories (ET(1) to ET(N)) from the corresponding storage module of the plurality of storage modules (408) based on a second pulse width set by the user, wherein the second pulse width is set from a plurality of predefined pulse widths; and The synthesizer module (412) synthesizes (910) the echo information (317) of the second pulse width received by the antenna (316) based on the echo trajectory selected by the selection module (410) and displays the output (334).

Images