Underwater vehicle with sonar array

摘要

An underwater vehicle including an axi-symmetric framing system rotatable about a centerline to define a shell of revolution having a uniformly-convex outer boundary. A narrow-beam sonar array is mounted on the axi-symmetric framing system, and includes a multitude of simultaneously-fireable and/or asynchronously-fireable transducers distributed substantially evenly over a 4π-steradian viewing angle. The present invention provides the necessary configuration for a vehicle wherein an internal algorithm can compare a “new” geometry to an “old” geometry collected earlier to construct a best fit of the new world map with the old world map and locate the vehicle within the context of the new world map. This then provides a completely independent mechanism for correction of the gradual drift in x and y that is not dependent on any form of external navigation aid.

主权项

1. An underwater vehicle for operating in an underwater environment, said underwater vehicle comprising:
a source of power; an axi-symmetric framing system rotatable about a centerline to define a shell of revolution having a uniformly-convex outer boundary; a narrow-beam sonar array connected to said source of power and mounted on said axi-symmetric framing system, said narrow-beam sonar array having a first and third plurality of transducers distributed substantially evenly overalong said outer boundary within a first plane, a second and fourth plurality of transducers distributed substantially evenly overalong said outer boundary within a second plane, and a plurality of lateral imaging transducers orientated to project within a third plane that is orthogonal to said first and second planes; a plurality of digital signal processors connected to said narrow-beam sonar array; and a plurality of bidirectional circumferential thrusters connected to said source of power and mounted, to said axi-symmetric framing system, said plurality of bidirectional circumferential thrusters being oriented to selectively cause rotation of said axi-symmetric framing system and propulsion of said vehicle within said underwater environment, said plurality of circumferential thrusters positioned within said shell of revolution; wherein each transducer of said plurality of transducerseach of said transducers is configured to project a beam having a width of no more thanabout two degrees or less radially outwardly along an associated beam path, and the angle of separation between beam pathstransducers is at leastgreater than about ten degrees.