Forward-Looking Sonar Depth Estimation for UUV Targeting
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Solution Overview
Problem
Unmanned underwater vehicles (UUVs) equipped with forward-looking sonar for target acquisition and guidance lack depth information, limiting their ability to accurately navigate and engage targets in three-dimensional space, as they can only measure range and azimuth.
Innovation Solution
A system and method using two-dimensional sonar to determine depth differences by analyzing changes in range and azimuth over time, allowing the vehicle to re-direct itself towards a target based on calculated depth differences, enabling accurate three-dimensional targeting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a forward-looking sonar is used for target acquisition and guidance, then the system cost is reduced and the device is simplified, but the depth measurement capability is lost and three-dimensional navigation accuracy deteriorates
Solution Approach 1:
The patent introduces an intermediary computational process that uses the vehicle's known constant velocity and sonar range/azimuth measurements to calculate depth differences. This intermediary calculation bridges the gap between the limited two-dimensional sonar measurements and the required three-dimensional navigation, allowing depth information to be derived without adding physical depth-sensing hardware.
Solution Approach 2:
The system uses the vehicle's own motion characteristics (constant velocity) and existing sensor measurements (range and azimuth) to generate depth information that would otherwise require additional sensors. The vehicle's self-motion data serves as a resource to compensate for the lack of direct depth measurement capability.
2Ease of manufacture
If only range and azimuth measurements are used, then the sonar system is simplified and cost is reduced, but the ability to determine three-dimensional target position deteriorates
Solution Approach 1:
The patent transforms the problem from directly measuring depth to calculating depth differences through parameter relationships. By using the known velocity parameter and measuring how range and azimuth change over time, the system derives depth information through mathematical transformation rather than direct measurement, maintaining system simplicity while recovering the lost depth dimension.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables UUVs to accurately determine depth differences and re-direct towards targets, improving navigation and engagement capabilities in three-dimensional environments.
Implementation Method 1
receiving echo signals of transmitted sonar signals
Implementation Method 2
a doppler measurement
Data Source
AI summary
A method comprising: providing an autonomous vehicle (AV) with a first estimated position of a target; directing the AV to travel toward the first estimated position at a constant velocity; receiving echo signals of transmitted sonar signals, the echo signals indicating a range and an azimuth of the target; determining a depth difference of the AV and the target based on the received echo signals, the depth difference being determined based on changes to the range and azimuth of the target over time; and in response to a depth difference existing, re-directing the AV toward a second estimated position of the target generated from the depth difference.