公开(公告)号：WO2009114578A1

公开(公告)日：2009-09-17

申请号：PCT/US2009/036731

申请日：2009-03-11

Applicant: RAYTHEON COMPANY ,  NOVICK, Arnold, W. ,  JANIK, Michael, F. ,  MCHALE, Thomas, J. ,  ROZENFELD, Ilya ,  MCPHILLIPS, Kenneth, J. ,  SHORT, John, R. ,  CASALEGNO, James, W.

Inventor： NOVICK, Arnold, W. ,  JANIK, Michael, F. ,  MCHALE, Thomas, J. ,  ROZENFELD, Ilya ,  MCPHILLIPS, Kenneth, J. ,  SHORT, John, R. ,  CASALEGNO, James, W.

IPC: G01S3/86

CPC classification number: G01S3/86 ,  G01S3/8006 ,  G01S7/003

Abstract: An autonomous sonar system and method provide an arrangement capable of beamforming in three dimensions, detecting loud targets, adaptively beamforming in three dimensions to avoid the loud targets, detecting quiet targets, localizing the loud or quiet targets in range, bearing, and depth, detecting modulation of noise associated with propellers of the loud or quiet targets, generating three dimensional tracks of the loud or quiet targets in bearing, range and depth, making classification of the loud or quiet targets, assigning probabilities to the classifications, and generating classification reports according to the classifications for communication to a receiving station, all without human assistance.

Abstract translation: 自主声纳系统和方法提供了能够在三维中进行波束成形的装置，检测大目标，三维自适应波束成形，以避免大声目标，检测安静目标，定位范围，方位和深度中的大声或安静目标，检测 调制与大声或安静目标的螺旋桨相关的噪声，产生轴承，范围和深度中的大声或安静目标的三维轨道，对大声或安静目标进行分类，将概率分配给分类，并根据 对接收站进行通信的分类，无需人力辅助。

公开(公告)号：WO2021034366A1

公开(公告)日：2021-02-25

申请号：PCT/US2020/034632

申请日：2020-05-27

Applicant: RAYTHEON COMPANY

Inventor： WOOD, Thomas, E. ,  SHORT, John, R.

IPC: G01S7/52 ,  G01S7/534 ,  G01S7/536 ,  G01S15/42 ,  G01S15/52 ,  G01S15/58 ,  G01S15/62 ,  G01S15/66 ,  G01S15/88

Abstract: 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.