Patent ID: 8220408
Filing Date: 2012-07-17
Classification: B63B,B63C,G01S

Abstract:
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 evenly over said outer boundary within a first plane, a second and fourth plurality of transducers distributed evenly over 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 transducers is configured to project a beam having a width of no more than two degrees radially outwardly along an associated beam path, and the angle of separation between beam paths is at least ten degrees.