Patent Publication Number: US-2022221297-A1

Title: Waypoint timeline user interface systems and methods

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to and the benefit of U.S. Provisional Patent Application No. 63/033,809 filed Jun. 2, 2020 and entitled “WAYPOINT TIMELINE USER INTERFACE SYSTEMS AND METHODS,” which is incorporated herein by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     One or more embodiments of the invention relate generally to navigational systems and more particularly, for example, to systems and methods for selecting and viewing navigational waypoints. 
     BACKGROUND 
     Navigational systems aid in the navigation of watercraft and other mobile structures. A mobile structure may include multiple navigational systems to aid in guiding the mobile structure. For example, a mobile structure may include radar, sonar, GNSS receivers, and other communications devices. Navigational systems may create and store navigational waypoints, such as through user input defining a point of interest. Conventionally, these waypoints are displayed to a user in a cumulative manner without organization, aside from spatial positioning on a map. Thus, there is a need in the art for a methodology to allow a user to manipulate the selection, organization, and display of waypoints within a navigational system for a mobile structure. 
     SUMMARY 
     Techniques are disclosed for systems and methods for selecting navigational waypoints using a timeline. In one embodiment, a system includes a user interface for a mobile structure, wherein the user interface comprises a display; and a logic device configured to communicate with the user interface and a position sensor. The logic device may be configured to receive user input defining a plurality of navigational waypoints associated with the mobile structure, wherein each navigational waypoint is defined, at least in part, by position data received from the position sensor and/or a corresponding time stamp; receive user input defining a timeline comprising a start point and an end point; and render a subset of the plurality of navigational waypoints on the display of the user interface, wherein the time stamp of each navigational waypoint of the subset of navigational waypoints corresponds to the defined timeline 
     receive user input defining a plurality of navigational waypoints, receive user input defining a timeline with a start point and an end point, and render on the display a subset of navigational waypoints of the plurality of waypoints, each navigational waypoint of the subset of navigational waypoints within the defined timeline. Each navigational waypoint may be defined by position data received from the at least one position sensor and time data received from the time module. Each navigational waypoint of the subset of navigational waypoints may comprise time data within the defined timeline. 
     In another embodiment, a method includes receiving, via a user interface for a mobile structure, user input defining a plurality of navigational waypoints, wherein each navigational waypoint is defined, at least in part, by position data received from a position sensor and/or a corresponding time stamp; receiving user input defining a timeline comprising a start point and an end point; and rendering a subset of the plurality of navigational waypoints on a display of the user interface, wherein the time stamp of each navigational waypoint of the subset of navigational waypoints corresponds to the defined timeline. The method may include receiving user input modifying a first start point and/or a first end point to define a second timeline with a second start point and/or a second end point and rendering on the display a second subset of navigational waypoints of the plurality of navigational waypoints, each navigational waypoint of the second subset of navigational waypoints including time data within the defined second timeline. 
     The scope of the invention is defined by the claims, which are incorporated into this section by reference. A more complete understanding of embodiments of the invention will be afforded to those skilled in the art, as well as a realization of additional advantages thereof, by a consideration of the following detailed description of one or more embodiments. Reference will be made to the appended sheets of drawings that will first be described briefly. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1A  illustrates a block diagram of a navigational system in accordance with an embodiment of the disclosure. 
         FIG. 1B  illustrates a diagram of a mobile structure with a navigational system in accordance with an embodiment of the disclosure. 
         FIG. 2  illustrates a diagram of a navigational system in accordance with an embodiment of the disclosure. 
         FIG. 3  illustrates a diagram of a display of a navigational system in accordance with an embodiment of the disclosure. 
         FIG. 4  illustrates a diagram of an augmented reality navigational system in accordance with an embodiment of the disclosure. 
         FIG. 5  illustrates a diagram of a dashboard display view that may be rendered within a display of a user interface in accordance with an embodiment of the disclosure. 
         FIG. 6  illustrates a diagram of a timeline display view that may be rendered within a display of a user interface in accordance with an embodiment of the disclosure. 
         FIG. 7  illustrates a diagram of a timeline results display view that may be rendered within a display of a user interface in accordance with an embodiment of the disclosure. 
         FIG. 8  illustrates a flowchart of a process for rendering navigational waypoints according to a timeline in accordance with an embodiment of the disclosure. 
     
    
    
     Embodiments of the invention and their advantages are best understood by referring to the detailed description that follows. It should be appreciated that like reference numerals are used to identify like elements illustrated in one or more of the figures. 
     DETAILED DESCRIPTION 
     In accordance with various embodiments of the present disclosure, navigational systems may be provided by various portable and/or fixed navigational sensors associated with a mobile structure or vehicle. The various navigational sensors may include imaging devices, sonar systems including one or more sonar transducer assemblies, radar systems, other ranging sensor systems, GNSS systems and/or other position sensors, orientation sensors, gyroscopes, accelerometers, position sensors, and/or speed sensors providing measurements of an orientation, a position, an acceleration, and/or a speed of the device, the sonar/radar/ranging sensor assemblies, and/or a coupled mobile structure, and/or other navigational sensors. 
     For example, the sensors may be mounted to or within the mobile structure (e.g., a watercraft, aircraft, motor vehicle, and/or other mobile structure), may be integrated with other sensor assemblies, or may be integrated within a portable device. Examples of portable devices include portable (global navigation satellite system (GNSS) devices, smartphones, tablets, portable computers, portable sensor suites, cameras, and other devices. Embodiments of the present disclosure provide navigational waypoint generation and filtering and visualization of the generated navigational waypoints via one or more user defined timelines, thereby allowing a user to: 1) search for waypoints based on time of creation, 2) view a history of waypoint creation activity, and/or 3) select or view all waypoints created within a defined time period, such as for tagging, deletion, and/or export. 
       FIG. 1A  illustrates a block diagram of a navigational system in accordance with an embodiment of the disclosure. In various embodiments, system  100  may be adapted to measure an orientation, a position, an acceleration, and/or a speed of mobile structure  101 , and/or other elements of system  100 . System  100  may include a plurality of navigational sensors that may produce navigational data. For example, such navigational sensors may include a sonar system  110 , a steering sensor/actuator  150 , an orientation sensor  140 , a speed sensor  142 , a gyroscope/accelerometer  144 , a global navigation satellite system (GNSS)  146 , and/or other modules  180  (i.e., a radar system, other ranging sensors, various environmental sensors, sensors directed towards the dynamic characteristics of the mobile structure, and/or other sensors). In certain embodiments, a plurality of certain types of the same sensor may be included within system  100 . 
     System  100  may use these measurements to form various views of sensor data provided by various navigational sensors within system  100  and/or to adjust an orientation of one, some, or all of the navigational systems of system  100  according to a desired operation of elements of system  100  and/or mobile structure  101 . In some embodiments, system  100  may display resulting sensor data and/or imagery to a user through user interface  120 , and/or use the sensor data and/or imagery to control operation of mobile structure  101 , such as controlling steering actuator  150  and/or propulsion system  170  to steer mobile structure  101  according to a desired heading, such as heading angle  107 , for example. 
     In the embodiment shown in  FIG. 1A , system  100  may be implemented to provide sensor data and/or imagery for a particular type of mobile structure  101 , such as a drone, a watercraft, an aircraft, a robot, a vehicle, and/or other types of mobile structures. In one embodiment, system  100  may include one or more of sonar system  110 , user interface  120 , controller  130 , orientation sensor  140 , speed sensor  142 , gyroscope/accelerometer  144 , GNSS  146 , steering sensor/actuator  150 , propulsion system  170 , and one or more other sensors and/or actuators, such as other modules  180 . In some embodiments, one or more of the elements of system  100  may be implemented in a combined housing or structure that can be coupled to mobile structure  101  and/or held or carried by a user of mobile structure  101 . 
     Directions  102 ,  103 , and  104  describe one possible coordinate frame of mobile structure  101  (e.g., for headings or orientations measured by orientation sensor  140  and/or angular velocities and accelerations measured by gyroscope/accelerometer  144 ). As shown in  FIG. 1A , direction  102  illustrates a direction that may be substantially parallel to and/or aligned with a longitudinal axis of mobile structure  101 , direction  103  illustrates a direction that may be substantially parallel to and/or aligned with a lateral axis of mobile structure  101 , and direction  104  illustrates a direction that may be substantially parallel to and/or aligned with a vertical axis of mobile structure  101 , as described herein. For example, a roll component of motion of mobile structure  101  may correspond to rotations around direction  102 , a pitch component may correspond to rotations around direction  103 , and a yaw component may correspond to rotations around direction  104 . 
     In certain embodiments, orientation and/or position sensors (OPSs) may be included on mobile structure  101 . The OPSs may be individually coupled to mobile structure  101  or may be contained within other modules and systems such as sonar system  110  and various imaging systems. The orientation and/or position sensors may detect the position of mobile structure  101  relative to a fixed point, such as a home or base location as defined by a user through user interface  120 . In some embodiments, the orientation and/or position sensors may detect the absolute position of mobile structure  101 , such as the absolute position of the mobile structure  101  within a geographic coordinate system (latitude and longitude). In some embodiments, the system may include one or more position sensors distinct from one or more orientation sensors such that the one or more position sensors provide positional data of the system  100  and/or mobile structure  101  and the one or more orientation sensors provide orientation data of the system  100  and/or mobile structure  101 . Data output from the orientation and/or position sensors may help define navigational waypoints as set by user input via user interface  120 . For example, each navigational waypoint may be defined by position data received from at least one position sensor. Each navigational waypoint may include a time stamp indicating the date and/or time the navigational waypoint was created. 
     The orientation and/or position sensors may detect the roll, pitch, and/or yaw of mobile structure  101  and output data related to the roll, pitch, and/or yaw to controller  130 . Controller  130  may then utilize roll, pitch, and/or yaw to correct data obtained by various sensors and systems coupled to mobile structure  101  (e.g., sonar, radar, and/or other ranging sensor systems, and/or other sensors). For example, sonar data of a seafloor may be significantly affected by roll, pitch, and/or yaw of a mobile structure because emitted sonar pulses may then travel to the ocean floor at an angle, which can significantly increase the detected distance. Using data related to corresponding angles of roll, pitch, and/or yaw, controller  130  may then correct or otherwise adjust such erroneous readings. 
     Heading angle  107  may correspond to the angle between a projection of a reference direction  106  (e.g., the local component of the Earth&#39;s magnetic field) onto a horizontal plane (e.g., referenced to a gravitationally defined “down” vector local to mobile structure  101 ) and a projection of direction  102  onto the same horizontal plane. In some embodiments, the projection of reference direction  106  onto a horizontal plane (e.g., referenced to a gravitationally defined “down” vector) may be referred to as Magnetic North. In various embodiments, Magnetic North, a “down” vector, and/or various other directions, positions, and/or fixed or relative reference frames may define an absolute coordinate frame, for example, where directional measurements referenced to an absolute coordinate frame may be referred to as absolute directional measurements (e.g., an “absolute” orientation). In some embodiments, directional measurements may initially be referenced to a coordinate frame of a particular sensor (e.g., a sonar transducer assembly or other module of sonar system  110 , and/or user interface  120 ) and be transformed (e.g., using parameters for one or more coordinate frame transformations) to be referenced to an absolute coordinate frame and/or a coordinate frame of mobile structure  101 . In various embodiments, an absolute coordinate frame may be defined and/or correspond to a coordinate frame with one or more undefined axes, such as a horizontal plane local to mobile structure  101  and referenced to a local gravitational vector but with an unreferenced and/or undefined yaw reference (e.g., no reference to Magnetic North). 
     Sonar system  110  may be implemented as one or more electrically and/or mechanically coupled controllers, transmitters, receivers, transceivers, signal processing logic devices, various electrical components, transducer elements of various shapes and sizes, multichannel transducers/transducer modules, transducer assemblies, assembly brackets, transom brackets, and/or various actuators adapted to adjust orientations of any of the components of sonar system  110 , as described herein. 
     For example, in various embodiments, sonar system  110  may be implemented and/or operated according to any of the systems and methods described in U.S. Provisional Patent Application 62/005,838 filed May 30, 2014 and entitled “MULTICHANNEL SONAR SYSTEMS AND METHODS”, and/or U.S. Provisional Patent Application 61/943,170 filed Feb. 21, 2014 and entitled “MODULAR SONAR TRANSDUCER ASSEMBLY SYSTEMS AND METHODS”, both of which are hereby incorporated by reference in their entirety. In other embodiments, sonar system  110  may be implemented according to other sonar system arrangements that can be used to detect objects within a water column and/or a floor of a body of water. 
     More generally, sonar system  110  may be configured to emit one, multiple, or a series of acoustic beams, receive corresponding acoustic returns, and convert the acoustic returns into sonar data and/or imagery, such as bathymetric data, water depth, water temperature, water column/volume debris, bottom profile, and/or other types of sonar data. Sonar system  110  may be configured to provide such data and/or imagery to user interface  120  for display to a user, for example, or to controller  130  for additional processing, as described herein. 
     In some embodiments, sonar system  110  may be implemented using a compact design, where multiple sonar transducers, sensors, and/or associated processing devices are located within a single transducer assembly housing that is configured to interface with the rest of system  100  through a single cable providing both power and communications to and from sonar system  110 . In some embodiments, sonar system  110  may include orientation and/or position sensors configured to help provide two or three-dimensional waypoints, increase sonar data and/or imagery quality, and/or provide highly accurate bathymetry data, as described herein. 
     For example, fisherman desire highly detailed and accurate information and/or imagery of underwater structure and mid water targets (e.g., fish). Conventional sonar systems can be expensive and bulky and typically cannot be used to provide enhanced and/or augmented reality underwater views, as described herein. Embodiments of sonar system  110  include low cost single, dual, and/or multichannel sonar systems that can be configured to produce detailed two and three-dimensional sonar data and/or imagery. In some embodiments, sonar system  110  may consolidate electronics and transducers into a single waterproof package to reduce size and costs, for example, and may be implemented with a single connection to other devices of system  100  (e.g., via an Ethernet cable with power over Ethernet, an integral power cable, and/or other communication and/or power transmission conduits integrated into a single interface cable). 
     In various embodiments, sonar system  110  may be configured to provide many different display views from a variety of selectable perspectives, including down imaging, side imaging, and/or three dimensional imaging, using a selection of configurations and/or processing methods, as described herein. In some embodiments, sonar system  110  may be implemented with a single transducer assembly housing incorporating one or two transducers and/or associated electronics. In other embodiments, sonar system  110  may be implemented with a transducer assembly housing incorporating a multichannel transducer and/or associated electronics. In such embodiments, sonar system  110  may be configured to transmit acoustic beams using a transmission channel and/or element of a multichannel transducer, receive acoustic returns using multiple receive channels and/or elements of the multichannel transducer, and to perform beamforming and/or interferometry processing on the acoustic returns to produce two and/or three dimensional sonar imagery. In some embodiments, one or more sonar transmitters of sonar system  110  may be configured to use CHIRP transmissions to improve range resolution and hence reduce ambiguities typically inherent in interferometry processing techniques. 
     In various embodiments, sonar system  110  may be implemented with optional orientation and/or position sensors (e.g., similar to orientation sensor  140 , gyroscope/accelerometer  144 , and/or GNSS  146 ) that may be incorporated within the transducer assembly housing to provide three dimensional orientations and/or positions of the transducer assembly and/or transducer(s) for use when processing or post processing sonar data for display. The sensor information can be used to correct for movement of the transducer assembly between ensonifications to provide improved alignment of corresponding acoustic returns/samples, for example, and/or to generate imagery based on the measured orientations and/or positions of the transducer assembly. In other embodiments, an external orientation and/or position sensor can be used alone or in combination with an integrated sensor or sensors. 
     In embodiments where sonar system  110  is implemented with a position sensor, sonar system  110  may be configured to provide a variety of sonar data and/or imagery enhancements. For example, sonar system  110  may be configured to provide accurate positioning of sonar data and/or user-defined waypoints remote from mobile system  101 . Similarly, sonar system  110  may be configured to provide accurate two and/or three dimensional aggregation and/or display of a series of sonar data; without position data, a sonar system typically assumes a straight track, which can cause image artifacts and/or other inaccuracies in corresponding sonar data and/or imagery. Additionally, when implemented with a position sensor and/or interfaced with a remote but relatively fixed position sensor (e.g., GNSS  146 ), sonar system  110  may be configured to generate accurate and detailed bathymetric views of a floor of a body of water. 
     In embodiments where sonar system  110  is implemented with an orientation and/or position sensor, sonar system  110  may be configured to store such location/position information along with other sensor information (acoustic returns, temperature measurements, text descriptions, water depth, altitude, mobile structure speed, and/or other sensor and/or control information) available to system  100 . In some embodiments, controller  130  may be configured to generate a look up table so that a user can select desired configurations of sonar system  110  for a particular location or to coordinate with some other sensor information. Alternatively, an automated adjustment algorithm can be used to select optimum configurations based on the sensor information. 
     For example, in one embodiment, mobile structure  101  may be located in an area identified on a chart using position data, a user may have selected a user setting for a configuration of sonar system  110 , and controller  130  may be configured to control an actuator and/or otherwise implement the configuration for sonar system  110  (e.g., to set a particular orientation). In still another embodiment, controller  130  may be configured to receive orientation measurements for mobile structure  101 . In such an embodiment, controller  130  may be configured to control the actuators associated with the transducer assembly to maintain its orientation relative to, for example, mobile structure  101  and/or the water surface, and thus improve the displayed sonar images (e.g., by ensuring consistently oriented acoustic beams and/or proper registration of a series of acoustic returns). In various embodiments, controller  130  may be configured to control steering sensor/actuator  150  and/or propulsion system  170  to adjust a position and/or orientation of mobile structure  101  to help ensure proper registration of a series of acoustic returns, sonar data, and/or sonar imagery. 
     Although  FIG. 1A  shows various sensors and/or other components of system  100  separate from sonar system  110 , in other embodiments, any one or combination of sensors and components of system  100  may be integrated with a sonar assembly, an actuator, a transducer module, and/or other components of sonar system  110 . For example, orientation sensor  140  may be integrated with a transducer module of sonar system  110  and be configured to provide measurements of an absolute and/or relative orientation (e.g., a roll, pitch, and/or yaw) of the transducer module to controller  130  and/or user interface  120 , both of which may also be integrated with sonar system  110 . Still other embodiments may not include the sonar system  110  but may include other sensor assemblies and other components. 
     User interface  120  may be implemented as a display, a graphical user interface, a touch screen, a keyboard, a mouse, a joystick, a knob, a steering wheel, a ship&#39;s wheel or helm, a yoke, and/or any other device capable of accepting user input and/or providing feedback to a user. In various embodiments, user interface  120  may be adapted to provide user input (e.g., as a type of signal and/or sensor information) to other devices of system  100 , such as controller  130 . User interface  120  may also be implemented with one or more logic devices that may be adapted to execute instructions, such as software instructions, implementing any of the various processes and/or methods described herein. For example, user interface  120  may be adapted to form communication links, transmit and/or receive communications (e.g., sensor signals, control signals, sensor information, user input, and/or other information), determine various coordinate frames and/or orientations, determine parameters for one or more coordinate frame transformations, and/or perform coordinate frame transformations, for example, or to perform various other processes and/or methods. 
     In various embodiments, user interface  120  may be adapted to accept user input, for example, to form a communication link, to select a particular wireless networking protocol and/or parameters for a particular wireless networking protocol and/or wireless link (e.g., a password, an encryption key, a MAC address, a device identification number, a device operation profile, parameters for operation of a device, and/or other parameters), to select a method of processing sensor signals to determine sensor information, to adjust a position and/or orientation of an articulated sensor, and/or to otherwise facilitate operation of system  100  and devices within system  100 . Once user interface  120  accepts a user input, the user input may be transmitted to other devices of system  100  over one or more communication links. 
     In one embodiment, user interface  120  may be adapted to receive a sensor or control signal (e.g., from orientation sensor  140 , a position sensor, and/or steering sensor/actuator  150 ) over communication links formed by one or more associated logic devices, for example, and display sensor and/or other information corresponding to the received sensor or control signal to a user. In related embodiments, user interface  120  may be adapted to process sensor and/or control signals to determine sensor and/or other information. For example, a sensor signal may include an orientation, an angular velocity, an acceleration, a speed, and/or a position of mobile structure  101 . In such embodiment, user interface  120  may be adapted to process the sensor signals to determine sensor information indicating an estimated and/or absolute roll, pitch, and/or yaw (attitude and/or rate), and/or a position or series of positions of mobile structure  101 , for example, and display the sensor information as feedback to a user. In one embodiment, user interface  120  may be adapted to display a time series of various sensor information and/or other parameters as part of or overlaid on a graph or map, which may be referenced to a position and/or orientation of mobile structure  101 . For example, user interface  120  may be adapted to display a time series of positions, headings, and/or orientations of mobile structure  101  and/or other elements of system  100  (e.g., a transducer assembly and/or module of sonar system  110 ) overlaid on a geographical map, which may include one or more graphs indicating a corresponding time series of actuator control signals, sensor information, and/or other sensor and/or control signals. In this manner, time data may be associated with the sensor data received from the plurality of sensors. The time data may be generated by a time module associated with system  100 , such as a clock. Additionally, user interface  120  may also be adapted to display a 2D or 3D integrated model that may combine sensor data from a plurality of sensors. 
     In some embodiments, user interface  120  may be adapted to accept user input including a user-defined target heading, route, and/or orientation for a transducer module, for example, and to generate control signals for steering sensor/actuator  150  and/or propulsion system  170  to cause mobile structure  101  to move according to the target heading, route, and/or orientation. In further embodiments, user interface  120  may be adapted to accept user input including a user-defined target attitude for an actuated device (e.g., sonar system  110 ) coupled to mobile structure  101 , for example, and to generate control signals for adjusting an orientation of the actuated device according to the target attitude. More generally, user interface  120  may be adapted to display sensor information to a user, for example, and/or to transmit sensor information and/or user input to other user interfaces, sensors, or controllers of system  100 , for instance, for display and/or further processing. In one embodiment, user interface  120  may be integrated with one or more sensors (e.g., imaging modules, position and/or orientation sensors, other sensors) and/or be portable (e.g., such as a portable touch display or smart phone, for example, or a wearable user interface) to facilitate user interaction with various systems of mobile structure  101 . 
     Controller  130  may be implemented as any appropriate logic device (e.g., processing device, microcontroller, processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), memory storage device, memory reader, or other device or combinations of devices) that may be adapted to execute, store, and/or receive appropriate instructions, such as software instructions implementing a control loop for controlling various operations of sonar system  110 , steering sensor/actuator  150 , mobile structure  101 , and/or system  100 , for example. Such software instructions may also implement methods for processing sensor signals, determining sensor information, providing user feedback (e.g., through user interface  120 ), querying devices for operational parameters, selecting operational parameters for devices, or performing any of the various operations described herein (e.g., operations performed by logic devices of various devices of system  100 ). 
     In addition, a machine-readable medium may be provided for storing non-transitory instructions for loading into and execution by controller  130 . In these and other embodiments, controller  130  may be implemented with other components where appropriate, such as volatile memory, non-volatile memory, one or more interfaces, and/or various analog and/or digital components for interfacing with devices of system  100 . For example, controller  130  may be adapted to store sensor signals, sensor information, parameters for coordinate frame transformations, calibration parameters, sets of calibration points, and/or other operational parameters, over time, for example, and provide such stored data to a user using user interface  120 . In some embodiments, controller  130  may be integrated with one or more user interfaces (e.g., user interface  120 ), and, in one embodiment, may share a communication module or modules. As noted herein, controller  130  may be adapted to execute one or more control loops for actuated device control, steering control (e.g., using steering sensor/actuator  150 ) and/or performing other various operations of mobile structure  101  and/or system  100 . In some embodiments, a control loop may include processing sensor signals and/or sensor information in order to control one or more operations of mobile structure  101  and/or various elements of system  100 . 
     Orientation sensor  140  may be implemented as one or more of a compass, float, accelerometer, magnetometer, and/or other digital or analog device capable of measuring an orientation of mobile structure  101  (e.g., magnitude and direction of roll, pitch, and/or yaw, relative to one or more reference orientations such as gravity and/or Magnetic North) and providing such measurements as sensor signals that may be communicated to various devices of system  100 . In some embodiments, orientation sensor  140  may be adapted to provide heading measurements for mobile structure  101 . In other embodiments, orientation sensor  140  may be adapted to provide roll, pitch, and/or yaw rates for mobile structure  101  (e.g., using a time series of orientation measurements). Orientation sensor  140  may be positioned and/or adapted to make orientation measurements in relation to a particular coordinate frame of mobile structure  101 , for example. 
     Speed sensor  142  may be implemented as an electronic pitot tube, metered gear or wheel, water speed sensor, wind speed sensor, a wind velocity sensor (e.g., direction and magnitude) and/or other device capable of measuring or determining a linear speed of mobile structure  101  (e.g., in a surrounding medium and/or aligned with a longitudinal axis of mobile structure  101 ) and providing such measurements as sensor signals that may be communicated to various devices of system  100 . In some embodiments, speed sensor  142  may be adapted to provide a velocity of a surrounding medium relative to sensor  142  and/or mobile structure  101 . 
     Gyroscope/accelerometer  144  may be implemented as one or more electronic sextants, semiconductor devices, integrated chips, accelerometer sensors, accelerometer sensor systems, or other devices capable of measuring angular velocities/accelerations and/or linear accelerations (e.g., direction and magnitude) of mobile structure  101  and providing such measurements as sensor signals that may be communicated to other devices of system  100  (e.g., user interface  120 , controller  130 ). Gyroscope/accelerometer  144  may be positioned and/or adapted to make such measurements in relation to a particular coordinate frame of mobile structure  101 , for example. In various embodiments, gyroscope/accelerometer  144  may be implemented in a common housing and/or module to ensure a common reference frame or a known transformation between reference frames. 
     GNSS  146  may be implemented according to any global navigation satellite system (GNSS), including a GPS, GLONASS, and/or Galileo based receiver and/or other device capable of determining absolute and/or relative position of mobile structure  101  (e.g., or an element of mobile structure  101  and/or system  100 , such as sonar system  110  and/or user interface  120 ) based on wireless signals received from space-born and/or terrestrial sources (e.g., eLoran, and/or other at least partially terrestrial systems), for example, and capable of providing such measurements as sensor signals that may be communicated to various devices of system  100 . In some embodiments, GNSS  146  may be adapted to determine a velocity, speed, and/or yaw rate of mobile structure  101  (e.g., using a time series of position measurements), such as an absolute velocity and/or a yaw component of an angular velocity of mobile structure  101 . In various embodiments, one or more logic devices of system  100  may be adapted to determine a calculated speed of mobile structure  101  and/or a computed yaw component of the angular velocity from such sensor information. 
     Steering sensor/actuator  150  may be adapted to physically adjust a heading of mobile structure  101  according to one or more control signals, user inputs, and/or stabilized attitude estimates provided by a logic device of system  100 , such as controller  130 . Steering sensor/actuator  150  may include one or more actuators and control surfaces (e.g., a rudder or other type of steering or trim mechanism) of mobile structure  101 , for example, and may be adapted to physically adjust the control surfaces to a variety of positive and/or negative steering angles/positions. 
     Propulsion system  170  may be implemented as a propeller, turbine, or other thrust-based propulsion system, a mechanical wheeled and/or tracked propulsion system, a sail-based propulsion system, and/or other types of propulsion systems that can be used to provide motive force to mobile structure  101 . In some embodiments, propulsion system  170  may be non-articulated, for example, such that the direction of motive force and/or thrust generated by propulsion system  170  is fixed relative to a coordinate frame of mobile structure  101 . Non-limiting examples of non-articulated propulsion systems include, for example, an inboard motor for a watercraft with a fixed thrust vector, for example, or a fixed aircraft propeller or turbine. In other embodiments, propulsion system  170  may be articulated, for example, and may be coupled to and/or integrated with steering sensor/actuator  150 , for example, such that the direction of generated motive force and/or thrust is variable relative to a coordinate frame of mobile structure  101 . Non-limiting examples of articulated propulsion systems include, for example, an outboard motor for a watercraft, an inboard motor for a watercraft with a variable thrust vector/port (e.g., used to steer the watercraft), a sail, or an aircraft propeller or turbine with a variable thrust vector, for example. 
     Other modules  180  may include other and/or additional sensors, actuators, communications modules/nodes, and/or user interface devices used to provide additional environmental information of mobile structure  101 , for example. In some embodiments, other modules  180  may include a humidity sensor, a wind and/or water temperature sensor, a barometer, a radar system, a visible spectrum camera, an infrared camera, LIDAR systems, a salinity sensor such as a sea surface salinity sensor, and/or other environmental sensors providing measurements and/or other sensor signals that can be displayed to a user and/or used by other devices of system  100  (e.g., controller  130 ) to provide operational control of mobile structure  101  and/or system  100  that compensates for environmental conditions, such as wind speed and/or direction, swell speed, amplitude, and/or direction, and/or an object in a path of mobile structure  101 , for example. In some embodiments, other modules  180  may include one or more actuated devices (e.g., spotlights, infrared and/or visible light illuminators, infrared and/or visible light cameras, radars, sonars, LIDAR systems, and/or other actuated devices) coupled to mobile structure  101 , where each actuated device includes one or more actuators adapted to adjust an orientation of the device, relative to mobile structure  101 , in response to one or more control signals (e.g., provided by controller  130 ). Additionally, other modules  180  may also include orientation and/or position sensors associated with sensors of the other modules  180 . The orientation and/or position sensors may be incorporated within the sensors of the other modules  180 , for example, or may be separate from the sensors of the other modules  180 . 
     In general, each of the elements of system  100  may be implemented with any appropriate logic device (e.g., processing device, microcontroller, processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), memory storage device, memory reader, or other device or combinations of devices) that may be adapted to execute, store, and/or receive appropriate instructions, such as software instructions implementing a method for providing sonar data and/or imagery, for example, or for transmitting and/or receiving communications, such as sensor signals, sensor information, and/or control signals, between one or more devices of system  100 . In one embodiment, such method may include instructions to receive an orientation, acceleration, position, and/or speed of mobile structure  101  and/or sonar system  110  from various sensors, to determine a transducer orientation adjustment (e.g., relative to a desired transducer orientation) from the sensor signals, and/or to control an actuator to adjust a transducer orientation accordingly, for example, as described herein. In a further embodiment, such method may include instructions for forming one or more communication links between various devices of system  100 . 
     In addition, one or more machine readable mediums may be provided for storing non-transitory instructions for loading into and execution by any logic device implemented with one or more of the devices of system  100 . In these and other embodiments, the logic devices may be implemented with other components where appropriate, such as volatile memory, non-volatile memory, and/or one or more interfaces (e.g., inter-integrated circuit (I2C) interfaces, mobile industry processor interfaces (MIPI), joint test action group (JTAG) interfaces (e.g., IEEE 1149.1 standard test access port and boundary-scan architecture), and/or other interfaces, such as an interface for one or more antennas, or an interface for a particular type of sensor). 
     Each of the elements of system  100  may be implemented with one or more amplifiers, modulators, phase adjusters, beamforming components, digital to analog converters (DACs), analog to digital converters (ADCs), various interfaces, antennas, transducers, and/or other analog and/or digital components enabling each of the devices of system  100  to transmit and/or receive signals, for example, in order to facilitate wired and/or wireless communications between one or more devices of system  100 . Such components may be integrated with a corresponding element of system  100 , for example. In some embodiments, the same or similar components may be used to perform one or more sensor measurements, as described herein. 
     For example, the same or similar components may be used to create an acoustic pulse (e.g., a transmission control signal and/or a digital shaping control signal), convert the acoustic pulse to an excitation signal (e.g., a shaped or unshaped transmission signal) and transmit it to a sonar transducer element to produce an acoustic beam, receive an acoustic return (e.g., a sound wave received by the sonar transducer element and/or corresponding electrical signals from the sonar transducer element), convert the acoustic return to acoustic return data, and/or store sensor information, configuration data, and/or other data corresponding to operation of a sonar system, as described herein. 
     Sensor signals, control signals, and other signals may be communicated among elements of system  100  using a variety of wired and/or wireless communication techniques, including voltage signaling, Ethernet, WiFi, Bluetooth, Zigbee, Xbee, Micronet, or other medium and/or short range wired and/or wireless networking protocols and/or implementations, for example In such embodiments, each element of system  100  may include one or more modules supporting wired, wireless, and/or a combination of wired and wireless communication techniques. 
     In some embodiments, various elements or portions of elements of system  100  may be integrated with each other, for example, or may be integrated onto a single printed circuit board (PCB) to reduce system complexity, manufacturing costs, power requirements, and/or timing errors between the various sensor measurements. For example, gyroscope/accelerometer  144 , user interface  120 , and controller  130  may be configured to share one or more components, such as a memory, a logic device, a communications module, and/or other components, and such sharing may act to reduce and/or substantially eliminate such timing errors while reducing overall system complexity and/or cost. 
     Each element of system  100  may include one or more batteries or other electrical power storage devices, for example, and may include one or more solar cells or other electrical power generating devices (e.g., a wind or water-powered turbine, or a generator producing electrical power from motion of one or more elements of system  100 ). In some embodiments, one or more of the devices may be powered by a power source for mobile structure  101 , using one or more power leads. Such power leads may also be used to support one or more communication techniques between elements of system  100 . 
     In various embodiments, a logic device of system  100  (e.g., of orientation sensor  140  and/or other elements of system  100 ) may be adapted to determine parameters (e.g., using signals from various devices of system  100 ) for transforming a coordinate frame of sonar system  110  and/or other sensors of system  100  to/from a coordinate frame of mobile structure  101 , at-rest and/or in-motion, and/or other coordinate frames, as described herein. One or more logic devices of system  100  may be adapted to use such parameters to transform a coordinate frame of sonar system  110  and/or other sensors of system  100  to/from a coordinate frame of orientation sensor  140  and/or mobile structure  101 , for example. Furthermore, such parameters may be used to determine and/or calculate one or more adjustments to an orientation of sonar system  110  that would be necessary to physically align a coordinate frame of sonar system  110  with a coordinate frame of orientation sensor  140  and/or mobile structure  101 , for example, or an absolute coordinate frame. Adjustments determined from such parameters may be used to selectively power adjustment servos/actuators (e.g., of sonar system  110  and/or other sensors or elements of system  100 ), for example, or may be communicated to a user through user interface  120 , as described herein. 
       FIG. 1B  illustrates a diagram of a mobile structure with a navigational system in accordance with an embodiment of the disclosure. In the embodiment shown in  FIG. 1B , system  100 B may be implemented to provide navigational data, such as an integrated model or some data outputs to the user, for use with operation of mobile structure  101 , similar to system  100  of  FIG. 1B . For example, system  100 B may include sonar system  110 , integrated user interface/controller  120 / 130 , secondary user interface  120 , steering sensor/actuator  150 , sensor cluster  160  (e.g., orientation sensor  140 , gyroscope/accelerometer  144 , GNSS  146 , and/or other modules  180  such as radar systems), imager cluster  161 , and various other sensors and/or actuators. In the embodiment illustrated by  FIG. 1B , mobile structure  101  is implemented as a motorized boat including a hull  105   b,  a deck  106   b,  a transom  107   b,  a mast/sensor mount  108   b,  a rudder  152 , an inboard motor  170 , and an actuated sonar system  110  coupled to transom  107   b.  In other embodiments, hull  105   b,  deck  106   b,  mast/sensor mount  108   b,  rudder  152 , inboard motor  170 , and various actuated devices may correspond to attributes of a passenger aircraft or other type of vehicle, robot, or drone, for example, such as an undercarriage, a passenger compartment, an engine/engine compartment, a trunk, a roof, a steering mechanism, a headlight, a radar system, and/or other portions of a vehicle. 
     As depicted in  FIG. 1B , mobile structure  101  includes actuated sonar system  110 , which in turn includes transducer assembly  112  coupled to transom  107   b  of mobile structure  101  through assembly bracket/actuator  116  and transom bracket/electrical conduit  114 . In some embodiments, assembly bracket/actuator  116  may be implemented as a roll, pitch, and/or yaw actuator, for example, and may be adapted to adjust an orientation of transducer assembly  112  according to control signals and/or an orientation (e.g., roll, pitch, and/or yaw) or position of mobile structure  101  provided by user interface/controller  120 / 130 . For example, user interface/controller  120 / 130  may be adapted to receive an orientation of transducer assembly  112  configured to ensonify a portion of surrounding water and/or a direction referenced to an absolute coordinate frame, and to adjust an orientation of transducer assembly  112  to retain ensonification of the position and/or direction in response to motion of mobile structure  101 , using one or more orientations and/or positions of mobile structure  101  and/or other sensor information derived by executing various methods described herein. 
     In another embodiment, user interface/controller  120 / 130  may be configured to adjust an orientation of transducer assembly  112  to direct sonar transmissions from transducer assembly  112  substantially downwards and/or along an underwater track during motion of mobile structure  101 . In such embodiment, the underwater track may be predetermined, for example, or may be determined based on criteria parameters, such as a minimum allowable depth, a maximum ensonified depth, a bathymetric route, and/or other criteria parameters. Transducer assembly  112  may be implemented with a sonar orientation and/or position sensor (OPS), which may include one or more sensors corresponding to orientation sensor  140 , gyroscope/accelerometer  144  and/or GNSS  146 , for example, that is configured to provide absolute and/or relative positions and/or orientations of transducer assembly  112  to facilitate actuated orientation of transducer assembly  112 . 
     In one embodiment, user interfaces  120  may be mounted to mobile structure  101  substantially on deck  106   b  and/or mast/sensor mount  108   b.  Such mounts may be fixed, for example, or may include gimbals and other leveling mechanisms/actuators so that a display of user interfaces  120  can stay substantially level with respect to a horizon and/or a “down” vector (e.g., to mimic typical user head motion/orientation), for example, or so the display can be oriented according to a user&#39;s desired view. In another embodiment, at least one of user interfaces  120  may be located in proximity to mobile structure  101  and be mobile/portable throughout a user level (e.g., deck  106   b ) of mobile structure  101 . For example, a secondary user interface  120  may be implemented with a lanyard, strap, headband, and/or other type of user attachment device and be physically coupled to a user of mobile structure  101  so as to be in proximity to the user and mobile structure  101 . Other embodiments of user interface  120  may include a portable device that is not physically coupled to the user and/or mobile structure  101 . In various embodiments, user interface  120  may be implemented with a relatively thin display that is integrated into a PCB or other electronics of the corresponding device or structure in order to reduce size, weight, housing complexity, and/or manufacturing costs. 
     As shown in  FIG. 1B , in some embodiments, speed sensor  142  may be mounted to a portion of mobile structure  101 , such as to hull  105   b,  and be adapted to measure a relative water speed. In some embodiments, speed sensor  142  may be adapted to provide a thin profile to reduce and/or avoid water drag. In various embodiments, speed sensor  142  may be mounted to a portion of mobile structure  101  that is substantially outside easy operational accessibility. Speed sensor  142  may include one or more batteries and/or other electrical power storage devices, for example, and may include one or more water-powered turbines to generate electrical power. In other embodiments, speed sensor  142  may be powered by a power source for mobile structure  101 , for example, using one or more power leads penetrating hull  105   b.  In alternative embodiments, speed sensor  142  may be implemented as a wind velocity sensor, for example, and may be mounted to mast/sensor mount  108   b  to have relatively clear access to local wind. 
     In the embodiment illustrated by  FIG. 1B , mobile structure  101  includes direction/longitudinal axis  102 , direction/lateral axis  103 , and direction/vertical axis  104  meeting approximately at mast/sensor mount  108   b  (e.g., near a center of gravity of mobile structure  101 ). In one embodiment, the various axes may define a coordinate frame of mobile structure  101  and/or sensor cluster  160 . 
     Each sensor adapted to measure a direction (e.g., velocities, accelerations, headings, or other states including a directional component) may be implemented with a mount, actuators, and/or servos that can be used to align a coordinate frame of the sensor with a coordinate frame of any element of system  100 B and/or mobile structure  101 . Each element of system  100 B may be located at positions different from those depicted in  FIG. 1B . Each device of system  100 B may include one or more batteries or other electrical power storage devices, for example, and may include one or more solar cells or other electrical power generating devices. In some embodiments, one or more of the devices may be powered by a power source for mobile structure  101 . As noted herein, each element of system  100 B may be implemented with an antenna, a logic device, and/or other analog and/or digital components enabling that element to provide, receive, and process sensor signals and interface or communicate with one or more devices of system  100 B. Further, a logic device of that element may be adapted to perform any of the methods described herein. 
       FIG. 2  illustrates a diagram of a navigational system in accordance with an embodiment of the disclosure. In various embodiments, system  220  may be implemented with similar functionality as that described with reference to user interface  120  and/or controller  130  in  FIGS. 1A and 1B . In the embodiment shown in  FIG. 2 , system  220  may be configured to provide visible spectrum imagery (e.g., using a visible spectrum imaging module  223 ), infrared spectrum imagery (using infrared imaging module  224 ), sonar imagery (using sonar system  110  of  FIGS. 1A and 1B ), and/or radar imagery (using radar system  229 ) of scene  200  to a user  290  viewing a display  226 . For example, system  220  may be configured to display rendered image data (e.g., provided by imaging modules  223  and/or  224 ) and/or radar data in a portion of a field of view (FOV) of display  226  that is above waterline  205  and to display rendered sonar data in a portion of the FOV that is below waterline  205 . 
     Image data provided by imaging modules  223  and/or  224  as well as radar data provided by radar  229  may include an image of a surface of a body of water  205   a  and various objects or structures above waterline  205 , such as the sun  201 , a tree  202 , a beach  203 , a hill  212 , cloud  210 , rain  210 a, floating object  211  or floating object  211   a  (the part of the floating object  211  above the waterline), and/or vehicle  213 . Such image data may be processed using feature/pattern recognition techniques to determine a location of waterline  205  within the image data (e.g., if imaging modules  223  and/or  224  are oriented to capture a portion of scene  200  including waterline  205 ). Sonar data, which may be provided by bathymetric charts and/or past or current use of sonar system  110  of  FIGS. 1A and 1B , may include data representative of waterline  205 , a floor  206  of body of water  205   a,  a bank  206   a  of floor  206 , a bottom feature  207  (e.g., a rock or sunken ship), fish  208  (or other fish, game, wildlife, and/or other flora and fauna), other submerged objects  209  (e.g., trash, seaweed), floating object  211   b  (the part of the floating object  211  below the waterline), and/or other underwater features within or surrounding body of water  205   a.    
     A sea state of the body of water  205   a  may also be determined using data from data including image data. For example, as shown in  FIG. 2 , waterline  205  may be choppy. Analysis of the visual and/or thermal imaging data from the visible imaging module  223  and/or the infrared imaging module  224  may determine the choppiness of waterline  205  and, thus, determine at least a portion of the sea state of body of water  205   a.  In certain embodiments, such a sea state (e.g., sea calmness or choppiness) may be rendered or communicated within an integrated model by, for example, graphical representations (e.g., animating the sea state in a 2D or 3D manner or through representations of the sea state using sea state indicators) or textual representations (e.g., text describing the sea state or rating the sea state according to a sea state scale such as a numerical scale). 
     Data from the modules within system  220  or system  100  may be combined within a navigational database. The navigational database may, for example, be contained within memory  222  (e.g., navigational database  222   a  within memory  222 ) and may be communicatively connected to other components within system  100  and/or the system  220 . Navigational database  222   a  may receive data from one or both of system  100  or system  220 . Additionally, navigational database  222   a  may receive data from other modules, sensors, imaging systems, or devices that may or may not be coupled with mobile structure  101 . For example, navigational database  222   a  may receive data from a smartphone of a user, from other vehicles, from GNSS satellites, from fixed devices such as traffic control services, from other communications systems such as radios and laser communications, and from cloud based interior database. In certain such embodiments, communication module  227  may transmit and/or receive navigational database  222   a.  Communication module  227  may be stabilized and may utilize orientation and/or position data to stabilize communication module  227  to better transfer and/or receive data. Such stabilization may reduce bandwidth requirements of a network. 
     For the purposes of this disclosure, any and all data that may directly or indirectly aid in the navigation of a vehicle may be considered navigational data. Also, the navigational database may combine navigational data of navigational sensors from any or all appropriate sources. The navigational database may also include orientation and/or position data from and/or associated with the navigational sensors. In certain embodiments, the navigational database may receive data from other sensors via communication module  227 . 
     Navigational database  222   a  may, in certain embodiments, be used to aid in navigation of mobile structure  101  by fusing together data from a plurality of sensors. The data may be fused in a manner to aid in the navigation of mobile structure  101  or assist in the presentation of the data to an operator of mobile structure  101  or a user of a display in a manner that may make the presentation easier to understand, more complete, and/or more informative. In certain embodiments, an operator may be a person in operational control of mobile structure  101 , while a user may be a person in control of an electronic device that may contain the display. The operator and/or the user may be the same person or may be different people. 
     For example, navigational database  222   a  may include data from sonar system  110 , visible spectrum imaging module  223 , infrared imaging module  224 , radar  229 , and/or other navigation sensors of system  220 . Controller  130  may be configured to generate an integrated model (e.g., integrated model  222   b ) from at least some of the data within navigational database  222   a.  Integrated model  222   b  may be, for example, a 2D or 3D representation of an environment near mobile structure  101 . Integrated model  222   b  may present the environment from substantially the point of view of the viewer of the vehicle (e.g., from the point of view of a bridge of a watercraft or from the point of view of where an imaging sensor may be located), from a top down point of view, from a perspective or angled view, or from a free-form view (i.e., where a user may select a viewpoint). 
     In certain embodiments, the integrated model  222   b  may combine data from multiple sensors, such as, for example, data from sonar system  110 , visible spectrum imaging module  223 , infrared imaging module  224 , and/or radar  229 . Integrated model  222   b  may combine data from multiple sensors into one view. Integrated model  222   b  may comprise a rendering of a virtual representation of the environment (e.g., render the environment from scratch, such as with a full 3D model) or may use data from one or more sensors as a base view and render additional data “on top” of the base view, such as in an overlay with variable transparency, for instance. 
     For example, data from visible spectrum imaging module  223  may be selected for the base view and data from infrared imaging module  224 , sonar system  110 , and/or radar  229  may be rendered “on top” of the base view. Accordingly, using the example of the scene  200  in  FIG. 2 , the base view may be a visual view from visible spectrum imaging module  223 . Due to rain  210   a,  visible spectrum imaging module  223  may not be able to detect vehicle  213  behind rain  210   a.  However, radar  229  and/or infrared imaging module  224  may be able to detect vehicle  213  through rain  210   a.  Thus, in a certain embodiment of the integrated model, the radar image and/or the thermal image of vehicle  213  may be included in the view of the visible image from visible spectrum imaging module  223 . Thus, the integrated model may, in addition to displaying data from visible spectrum imaging module  223 , also overlay radar and/or thermal image of vehicle  213  within the integrated model. Accordingly, an operator/user may be aware of the presence of vehicle  213  even though vehicle  213  may not be visible in the visual spectrum. 
     Additionally or alternatively, features detected by sonar system  110  may also be incorporated into the integrated model. For example, sonar system  110  may detect and/or output data representative of waterline  205 , floor  206  of body of water  205   a,  bank  206   a  of floor  206 , bottom feature  207  (e.g., a rock or sunken ship), fish  208 , other submerged objects  209  (e.g., trash, seaweed), floating object  211   b,  and/or other underwater features within or surrounding body of water  205   a.  Such underwater features may be rendered within the integrated model. Such underwater features may be indicated and/or differentiated within the integrated model from, for example, features above the water line through use of any combination of contour lines, color and/or greyscale mapping and/or shading, three dimensional rendering, and/or other volumetric rendering techniques. In some embodiments, surface orientations of various underwater features (e.g., of side  207   a  or top  207   b  of bottom feature  207 , or of side  208   a  of fish  208 ) may be detected and/or differentiated using similar sonar data and/or image processing techniques. 
     In various embodiments, integrated model  222   b  may be generated from the navigational database  222   a  and shown on display  226 . The portions of any of image data from visible spectrum imaging module  223  and infrared imaging module  224 , sonar data from sonar system  110 , radar data from radar  229 , GNSS data from the GNSS  146 , and other data from other navigational sensors that are rendered and displayed by display  226 , and the techniques used to render the imagery, may be selected based on a point of view of display  226  to provide a view fusing the data of multiple navigational sensors. 
     Such fusing may be demonstrated in an example where the position of mobile structure  101  is determined. In certain embodiments, the resolution of GNSS data may result in positional errors of multiple feet. Additionally, connection to various GNSS satellites may be periodically lost and GNSS  146  may be miscalibrated or otherwise inaccurate. In such instances, system  100  and/or  220  may utilize data from other sensors to complement or supplement the GNSS data. For example, image data, sonar data, and/or radar data may be used to help determine the position of mobile structure  101 . Such data may allow controller  221  to analyze the data and determine the position of mobile structure  101  according to the data. 
     For example, controller  221  may roughly determine the position of mobile structure  101  from current or outdated GNSS data, determine landmarks in the environment around mobile structure  101 , and then may use image, sonar, and/or radar data to locate such landmarks within the data. Controller  221  may then determine the distance from mobile structure  101  to one or more such landmarks and, thus, determine the location of mobile structure  101 . In certain such embodiments using image data, there may be a plurality of visual and/or thermal imaging modules  223  and/or  224 . The plurality of imaging modules may be configured to allow the controller to determine a distance of mobile structure  101  to the landmark imaged. In such embodiments, visual and/or thermal imaging modules  223  and/or  224  may additionally include corresponding OPSs. The orientation and/or position data from the OPSs may also aid in determining the position of mobile structure  101 . 
     In a further embodiment, the position of mobile structure  101  may be determined from both the GNSS data and other data (e.g., the controller may determine a first position of mobile structure  101  from the GNSS data and may independently determine a second position of mobile structure  101  from other data). The GNSS data may then be aligned with other data to generate an integrated model. Aligning may associate an aspect of the GNSS data to an aspect of another navigational data. Aligning may include, for example, determining a global position of a detected terrain feature (e.g., an underwater ridge detected by sonar may be determined to be positioned in an area indicated by GNSS to include an underwater ridge), combining GNSS data with detected weather conditions (to determine the position of the weather condition), and/or other techniques that may combine GNSS data with other navigational data to increase the accuracy of the navigational data, better present the data to a user, and/or other improvements. 
     Additionally, in certain embodiments, a position determined from the GNSS data may then be compared to the position determined from the other sensors and any mismatches may be highlighted in the rendering of the integrated model. In certain embodiments, controller  130  may also include algorithms to, if a mismatch is detected, render the integrated model according to data from a preferred sensor or module (e.g., render the integrated model according to one of GNSS data, visual image data, thermal image data, radar data, or sonar data). Also, the controller may, if the first position and second position are determined to substantially match (e.g., if terrain features are within, for example, +/−25 feet of their positions measured using the different sensors) the controller may indicate that the first position and the second position are matching. In other embodiments, controller  130  may compare data of other sensors related to other aspects of the database and/or the integrated model and determine any matches or mismatches within the data of navigational database  222   a.  The matches and/or mismatches may be directed to any aspect of navigational database  222   a  or integrated model  222   b . For example, matches and/or mismatches between terrain features, wildlife (e.g., flora and/or fauna), mobile structure position, environmental conditions, and/or other aspects of data within navigational database  222   a  may be highlighted. The matches and/or mismatches may then be highlighted within display  226 , such as through renderings within the integrated model. 
     Additionally, in another embodiment, the position of mobile structure  101  may first be determined, and, using radar, sonar, image, and/or other data, positions of other vehicles and/or landmarks may be determined. Thus, in such embodiments, the position of mobile structure  101  may first be determined. Then, the various sensors on mobile structure  101  may receive data associated with the position of the other vehicles, or data may be sent to mobile structure  101  from the other vehicles or third party data related to such may be sent to mobile structure  101 . For example, the visible and/or infrared imaging module  223  and/or  224  may, through image data, determine a distance of the vehicle from mobile structure  101 . Another module and/or the OPS may then determine the direction that the visible and/or infrared imaging module  223  and/or  224  is pointed towards and, accordingly, determine where, in relation to mobile structure  101 , the vehicle is located. Thus, the position of the other vehicle may then be determined. 
     As shown, system  220  may include one or more controllers  221  (e.g., including memory  222 ), imaging modules (e.g., visible spectrum imaging module  223  and/or infrared imaging module  224 ), other sensors (e.g., orientation and/or position sensor  225 ), display  226 , communication module  227 , and/or other modules  228  facilitating operation of system  220 , which may or may not all be disposed within a common housing  240 . In certain embodiments, system  220  may be a portable device or may be integrated within a mobile structure. In other embodiments, the components of system  220  may be distributed over a combination of one or more portable devices, mobile structure  101 , and/or external devices, structures, and vehicles. In certain embodiments, one or more of the modules shown in  FIG. 2  may be integrated with a stationary user interface and/or mount (e.g., coupled to deck  106 b or mast/sensor mount  108 b of mobile structure  101  in  FIG. 1B ) and be configured to communicate with devices within housing  240  through a distributed embodiment of communication module  227 . 
     Visible spectrum imaging module  223  and infrared imaging module  224  may be electronic devices configured to capture imagery/image data of scene  200  according to their respective spectrums and provide images/image data to controller  221  and/or memory  222 . In some embodiments, visible spectrum imaging module  223  and infrared imaging module  224  may be implemented according to any similar devices described in U.S. patent application Ser. No. 14/138,058, filed Dec. 21, 2013, and entitled “COMPACT MULTI-SPECTRUM IMAGING WITH FUSION”, which is hereby incorporated by reference in its entirety. Moreover, imagery provided by imaging modules  223  and  224  may be combined (e.g., blended, overlaid, fused, or otherwise combined) to provide combined (e.g., from multiple source spectrums) imagery/image data that may be rendered by system  220  and/or displayed using display  226  using any of the methods described in U.S. patent application Ser. No. 14/138,058 (incorporated by reference above) and/or as further described herein. 
     More generally, system  220  may include a variety of imaging modules adapted to capture imagery (e.g., image and/or video data) according to visible spectrum, infrared, and other spectrums, for example, and provide corresponding image data to controller  221  or other controllers or devices for rendering and/or display. In some embodiments, imaging modules  223  and/or  224  may be mounted to a mobile structure separate from system  220  (e.g., to deck  106 b or mast/sensor mount  108 b of mobile structure  101  in  FIG. 1B , using a fixed or actuated mount such as imager cluster  161 ) and be configured to provide imagery to controller  221  using wired and/or wireless communications through communication module  227 . In such embodiments, multiple devices may be configured to share image data provided by imaging modules mounted to mobile structure  101 . 
     Controller  221  and/or memory  222  may each be implemented as any appropriate logic device (e.g., processing device, microcontroller, processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), memory storage device, memory reader, or other device or combinations of devices) that may be adapted to execute, store, and/or receive appropriate instructions, such as software instructions implementing a control loop for controlling various operations of mobile structure  101 , for example, similar to controller  130 . In certain embodiments, controller  221  of system  220  may be integrated or may be the same as controller  130  and, thus, may be integrated within mobile structure  101 . In other embodiments, system  220  or part of system  220  may be separate from mobile structure  101  and, accordingly, controller  221  and controller  130  may be separate. In such embodiments, controller  221  and controller  130  may be communicatively coupled through, for example, WiFi, Bluetooth, direct data links, NFC, and other appropriate communication data methods. In some embodiments, controller  221  may be in communication with various modules of system  220  and be configured to receive imagery/image data of scene  200  from imaging modules  223  and/or  224 , determine waterline  205  of a body of water  205 a in scene  200  (e.g., from image data, position data, and/or orientation data provided by the device), render or display image data in any portion of an FOV of display  226  that extends above waterline  205 , and/or render and/or display sonar data in any portion of the FOV of display  226  that extends below waterline  205 . In certain embodiments, memory  222  may include data such as, for example, navigational database  222   a  and/or integrated model  222   b.    
     In the embodiment shown in  FIG. 2 , system  220  includes OPS  225 . In some embodiments, controller  221  may be configured to receive the sonar data, the radar data, and/or image data based on a measured position and/or orientation provided by OPS  225 . OPS  225  may be implemented as one or more orientation sensors, GNSS sensors, differential GNSS sensors, orientation/position reference transducers and/or optical sensors (e.g., for actuators), visible spectrum and/or infrared imaging modules, and/or other sensors configured to measure a relative and/or absolute orientation and/or position of system  220  and/or each of imaging modules  223  and  224  and display  226  and provide such measurements to controller  221 . For example, in one embodiment, OPS  225  may include one or more remote infrared imaging modules (e.g., implemented similar to infrared imaging module  224 ) fixed to a mobile structure and a number of infrared registration marks disposed on housing  240 , and controller  221  may be configured to determine a relative position and/or orientation of system  220  from the size and/or position of the infrared registration marks and/or other related characteristics of system  220  in image data captured by the one or more remote infrared imaging modules. Such relative position and/or orientation may be relative to a position and/or orientation of the remote infrared imaging modules and/or mobile structure  101 . 
     In some embodiments, OPS  225  may be distributed amongst the various modules of system  220  and include one or more individual module OPSs configured to measure orientations and/or positions of image modules  223  and/or  224 , radar  229 , other ranging sensors, and/or a separate display OPS configured to measure a position and/or orientation of display  226 . In various embodiments, controller  221  may be configured to combine image data and sonar data according to OPS measurements and/or measurements of an orientation and/or position of a coupled sonar system (e.g., from a corresponding OPS) and/or mobile structure to produce combined imagery, such as visible spectrum images of scene  200  above waterline  205  and/or three dimensional sonar images of scene  200  below waterline  205 . In other embodiments, controller  221  may be configured to use orientation and/or position measurements of system  220 , imaging modules  223  and  224 , radar  229 , display  226 , other ranging sensors, and/or mobile structure  101  to control one or more actuators to adjust a position and/or orientation of imaging modules  223  and  224  and/or portions of an associated sonar system (e.g., transducer assembly  112 ) to image or ensonify a particular position and/or orientation of scene  200  relative to an FOV of display  226 . In various embodiments, controller  221  and memory  222  may be integrated together, for example, or may be implemented in a distributed manner across a number of individual controllers and/or memories. 
     Display  226  may be implemented as one or more LCDs, OLEDs, touch screen displays, projection devices, and/or other digital displays that may be configured to display image data from imaging modules  223  and  224 , sonar data (e.g., from sonar system  110  of  FIGS. 1A and 1B ), radar data, integrated model  222   b  rendered by controller  221 , and/or other image data, to user  290 . In various embodiments, display  226  may be characterized by an FOV that is a function of the available pixel dimensions of display  226 , the position and/or orientation of display  226 , the FOVs of imaging modules  223  and/or  224 , an effective optical zoom level applied to the image data provided by imaging modules  223  and/or  224 , and/or similar characteristics of other navigational and/or ranging sensors. For example, where imaging modules  223  and  224  are within the same housing  240  as display  226 , the position and orientation of display  226  may be substantially the same as that of imaging modules  223  and/or  224 , and the FOV of display  226  may be the same as that for imaging modules  223  and/or  224  as modified by the effective zoom level and the pixel dimensions of display  226 . In other embodiments, where imaging modules  223  and/or  224  are mounted outside of housing  240 , the FOV of display  226  may be dependent on the absolute or relative position and/or orientation of display  226  as compared to that of imaging modules  223  and/or  224 . 
     In some embodiments, the effective optical zoom level may be adjusted to produce an FOV for display  226  that substantially reproduces a direct view of scene  200  as experienced by user  290 , for example, so that objects within scene  200  are approximately the same size when viewed by user  290  with or without use of system  220 . In such embodiments, the effective optical zoom level may be adjusted by sensing a distance between user  290  and display  226  and then selecting the effective optical zoom level based on that distance to reproduce the direct view of scene  200 . In other embodiments, the effective optical zoom level may be adjusted by user input to reproduce the direct view and/or to select a higher or lower effective optical zoom level to increase or decrease the FOV of and/or the image detail produced by display  226 . The effective optical zoom level may be adjusted using digital image processing techniques, manual and/or actuated adjustment of optical components within imaging modules  223  and/or  224 , or any combination of image processing or optical adjustments. 
     Communication module  227  may be implemented as any wired and/or wireless interface configured to communication sensor data, configuration data, parameters, and/or other data and/or signals between system  220  and other elements of mobile structure  101  (e.g., as shown in  FIGS. 1A and 1B ) and/or amongst modules of system  220 . As described herein, in some embodiments, communication module  227  may be implemented in a distributed manner such that portions of communication module  227  are implemented within one or more modules of system  220  that may or may not be disposed within housing  240 . 
     Other modules  228  may include other and/or additional sensors, sensor arrays, actuators, logic devices, communications modules/nodes, power and/or power distribution components, and/or user interface devices used to provide additional environmental information and/or configuration parameters, for example, and/or to adjust a position and/or orientation of system  220 . In some embodiments, other modules  228  may include various environmental sensors providing measurements and/or other sensor signals that can be displayed to a user and/or used by other devices of system  220  (e.g., controller  221 ) to facilitate operation of system  220 . Such environmental sensors may include sensors configured to determine cloud, wind, precipitation, or wind conditions of an environment around mobile structure  101 . In some embodiments, other modules  228  may include one or more buttons and/or other user input devices configured to accept manual user input. In other embodiments, other modules may include one or more distance and/or user presence detectors configured to detect user  290  and/or measure or estimate a distance between display  226  and user  290 . 
     In various embodiments, system  220  may be implemented in a single housing  240  with a single display (e.g., display  226 ) adapted to be held by user  290  while user  290  views the display. In other embodiments, housing  240  may be mounted to a mobile structure using a fixed or actuated mount to provide a fixed or actuated view relative to an orientation of mobile structure  101 . In some embodiments, system  220  may be implemented as a wearable device, such as a pair of glasses including a plurality of displays configured to provide the same image to each eye of user  290  individually or to provide stereoscopic imagery to both eyes of user  290 . Such stereoscopic imagery may be generated using multiple instances of imaging modules  223  and/or  224 , for example, or by applying various image processing techniques to image and/or sonar data to provide a simulation of depth. 
       FIG. 3  illustrates a diagram of a display of a navigational system in accordance with an embodiment of the disclosure. In the embodiment shown in  FIG. 3 , system  220  is oriented to illustrate imagery as integrated model  222   b  that is displayed by display  226  as viewed by user  290  of  FIG. 2 , where the effective optical zoom level is adjusted to reproduce a direct view of scene  200  (except for a relatively small portion of the direct view obscured by housing  240  and/or user input device  228 . 
     Scene  200  includes features above waterline  205  illustrated in  FIG. 2  and additionally includes mountains/land features  204 , tree  202 , vehicle  213 , floating object  211   a,  surface  205   c  of body of water  205   a , and deck  106   b  (e.g., of mobile structure/boat  101  in  FIG. 1B ). Also shown in  FIG. 3 , and in particular in the FOV of display  226 , are detected waterline  205   b,  portion  330  of the FOV that extends below waterline  205 b, and portion  334  of the FOV that extends above waterline  205   b.  System  220  may in some embodiments be configured to render detected waterline  205   b  in display  226  to illustrate a detected location of waterline  205  relative to the FOV of display  226 . Portion  330  may include imagery representing bottom feature  207 , fish  208 , submerged object  209 , and the submerged portion of the floating object  211   b  similar to objects illustrated in  FIG. 2 . For example, as shown in  FIG. 3 , portion  330  may include a number of contour lines  332  rendered by a controller (e.g., controller  221  of  FIG. 2 ) to distinguish depths, relative distances, various characteristics of bathymetric data, and/or other characteristics of underwater features. Additionally or alternatively, contour lines  332  may be rendered by the controller in portion  334  above the waterline. The contour lines  332  above the waterline  205  may distinguish elevation, relative distances, and various other characteristics of terrestrial features. 
     Alternatively or additionally, portion  330  may include icons and/or other types of graphical indicators configured to illustrate a position and/or distance to fish  208 , submerged object  209 , floating object  211   b  and/or to distinguish between the various objects (e.g., based on fish detection processing performed on acoustic returns from fish  208 , submerged object  209 , and/or floating object  211   b ). For example, icon  350  may be rendered to show a planned destination for mobile structure  101 . The planned destination may be a destination inputted into the controller by a user. Additionally, suggested route  338  may also be rendered. Suggested route  338  may be a route determined by the controller to best guide the operator (who may or may not be the user) of mobile structure  101  to the planned destination indicated by the icon  350 . 
     In certain embodiments, the controller may use data from one or more sensors to offer an enhanced view. For example, in  FIG. 3 , rain  210   a  may be present. However, display  226  may combine information from a plurality of sensors and render the scene  200  in display  226  without the presence of rain  210   a.  In certain embodiments, the controller may be able to “see through” the rain by, for example, using radar data or image data and determining the presence of rain and so removing the rain from the image. In certain such embodiments, the controller may distinguish between rain or other weather (such as fog, win, etc.) that may not have an effect on navigation and rain or other weather that may have an effect on navigation. For example, the controller may, from sensors that may detect wind speed, third party weather data, or weather data from other vessels and installations, determine whether rain and/or other weather data is representative of a storm (e.g., a hurricane) or other bad weather condition. In such cases, the controller may then render the weather, graphics indicative of the weather, or a warning on display  226  to warn the user of the weather. In other embodiments, the controller may render the weather, graphics indicative of the weather, or messages to indicate the weather even if the weather data does not indicate that the weather conditions are representative of that of a storm or other bad weather. 
     In certain embodiments, the controller may additionally be configured to forecast future weather conditions around mobile structure  101  from the weather data and/or other data. For example, the controller may use the weather data from the sensors as well as data indicating weather conditions around mobile structure  101  to forecast future weather conditions. In such an embodiment, data indicating wind speed, the position of the sun, the location of mobile structure  101 , the positioning of the clouds, the barometric pressure, current and historical precipitation, and other environmental factors may all be considered in forecasting future weather conditions. 
     Although the FOV of display  226  in  FIG. 3  is shown to include both portions  330  and  334 , a different position and/or orientation of display  226  and/or system  220  could result in portion  330  or  334  encompassing the entire FOV of display  226 . In certain embodiments, portions  330  and  334  may be rendered in different manners (e.g., with 3D graphics for the portion  334  and with contour lines for the portion  330 ) and/or rendered with data from different sensors or from a combination of sensors. In other embodiments, portions  330  and  334  may be rendered in the same manner (e.g., with contour lines for both portions) and/or rendered with data from the same sensors. 
     In some embodiments, age or source of sonar data may be differentiated by rendering substantially real time sonar data differently from prior-acquired and/or survey map sonar data (e.g., a 3 rd  party provided chart or collection of bathymetric data for a particular body of water stored in memory, such as memory  222  of  FIG. 2 ). For example, substantially real time sonar data may be rendered in color and prior-acquired and/or survey map sonar data may be rendered in greyscale. In some embodiments, a relative age of once real time sonar data may be indicated by reducing a chrominance level of the sonar data as the sonar data ages. In additional embodiments, system  220  (e.g., controller  221  of  FIG. 2 ) may be configured to detect or determine various surfaces of underwater features based on acoustic returns from the surfaces and/or one or more volumetric renderings of corresponding sonar data, and the relative or absolute orientations of the various surfaces may be determined from the volumetric renderings. In such embodiments, system  220  may be configured to indicate the relative or absolute surface orientations in portion  330  by mapping the surface orientations to a color and/or intensity map and rendering the sonar data corresponding to the determined surfaces in a corresponding color. In addition, 3 rd  party provided charts and/or bathymetric data may be updated with sonar data and/or any other data received by the controller  130 . As charts may contain errors, using the sonar data to update the charts may allow for such errors to be corrected. 
     Also shown in portion  330  of the FOV of display  226  is overlapping portion  336 , which indicates where deck  106   b  would otherwise obscure direct view of surface  205   c.  In some embodiments, system  220  may be configured to determine whether portion  330  overlaps with a view of a mobile structure disposed on surface  205   c  (e.g., mobile structure  101  of  FIGS. 1A or 1B ), thereby forming overlapping portion  336 . If overlapping portion  336  exists, system  220  may be configured to blend image data of mobile structure  101  (e.g., captured by imaging modules  223  and/or  224 ) with sonar data in overlapping portion  336  and rendering the blended data in the overlapping portion  336 . In embodiments where system  220  is worn by a user and generally occludes direct view of the user&#39;s surroundings, the blended imagery can provide a user with a view of sonar data beneath mobile structure  101  but protect the user from stumbling into objects on mobile structure  101  and/or walking off deck  106   b.    
     Display  226  may also show vehicle  213  and/or floating object  211 . In certain embodiments of display  226 , the controller may recognize that vehicle  213  and/or floating object  211 , as well as other objects, overlaps portion  334  above waterline  205  and portion  330  below waterline  205 . In certain such embodiments, the controller may render vehicle  213  and/or floating object  211  as one object (by fusing data from multiple sensors) and/or render the vehicle  213  and/or the floating object  211  using data from a single sensor instead of rendering the above water and underwater portions of the vehicle  213  and/or the floating object  211  in different manners and/or using different data from different sensors to determine the above water and underwater portions of the respective objects. In certain other embodiments, the vehicle  213  and/or the floating object  211  may be rendered in different degrees of transparency so that terrain features behind the vehicle  213  and/or the floating object  211  (such as the tree behind the objects in  FIG. 3 ) may be viewable by the user. In certain such embodiments, the user may select the level of transparency of the vehicle  213  and/or the floating object  211  rendered within display  226 . 
       FIG. 4  illustrates a diagram of an augmented reality navigational system in accordance with an embodiment of the disclosure. In various embodiments, portable imaging device  420  may be implemented with similar functionality as that described with reference to system  220  in  FIGS. 2 and 3 . In the embodiment shown in  FIG. 4 , wearable portable imaging device  420  is oriented to illustrate imagery displayed by displays  426  (e.g., one per user eye) as viewed by a user wearing portable imaging device  420 , where the effective optical zoom level is adjusted to reproduce a direct view of scene  200  (except for a relatively small portion of the direct view obscured by imaging modules  423  and/or frame  440 ). 
       FIG. 4  includes some of the features above waterline  205  illustrated in scene  200  of  FIGS. 2 and 3 , and, in particular in the FOV of displays  426 , includes detected waterlines  205   b,  portions  430  of the FOV that extend below respective waterlines  205   b,  and portions  434  of the FOV that extend above respective waterlines  205   b.  Portions  430  may include color and/or intensity shading  432  rendered by a controller (e.g., controller  221  of  FIG. 2 ) to distinguish depths, relative distances, various characteristics of bathymetric data, and/or other characteristics of various underwater features. 
     As illustrated in  FIG. 4 , wearable portable imaging device  420  may include one or more imaging modules  423 , which may be implemented as visible spectrum and/or infrared imaging modules configured to provide monocular (e.g., copied to both displays  426 ) and/or stereoscopic image data depending on the number and arrangement of imaging modules and the type of image processing applied to image data provided by imaging modules  423 . In addition, an OPS (e.g., OPS  225  of  FIG. 2 ) may be integrated with any of imaging modules  423 , displays  426 , and/or frame  440  and be configured to provide a position and/or orientation of one or more of the features to facilitate determining FOVs for displays  426 . In some embodiments, portable imaging device  420  may be configured to determine portion  430  of the FOV of display  426  and use an OPS and actuator in an associated transducer assembly (e.g., actuator  116  coupled to transducer assembly  112  of sonar system  110  in  FIG. 1B ) to ensonify at least a subset of portion  430  substantially in real time as a user adjusts a position or orientation of wearable portable imaging device  420  by, for example, moving the user&#39;s head. Sonar data provided by the associated transducer assembly may be rendered using position data and/or orientation data provided by the OPS to correlate the sonar data with portion  430 , for example, and/or to facilitate other rendering processing described herein. 
     In some embodiments, displays  426  may be implemented with substantially transparent display panels, where the only portions of displays  426  that obscure a direct view of scene  200 , as seen by a user wearing portable imaging device  420 , are those portions actively displaying rendered image data. In such embodiments, portable imaging device  420  may be configured to render and display portions  430  and/or detected waterlines  205   b  using displays  426  without also rendering portions  434 . Power for portable imaging device  420  may be embedded within frame  440  and/or electrically coupled to portable imaging device  420  through use of a wire harness and/or an external power source, such as a battery pack or a power source for a mobile structure. 
       FIG. 5  illustrates a diagram of a dashboard display view  500  that may be rendered within a display (e.g., display  226 , displays  426 ) of user interface  120  in accordance with an embodiment of the disclosure. Dashboard display view  500  may allow a user to interact with (e.g., view, group, associate, search, and/or modify) navigational data produced by various navigational sensors. For example, dashboard display view  500  may allow a user to add, delete, and/or otherwise configure one or more navigational waypoints  502 . In some embodiments, dashboard display view  500  may allow a user to manage one or more functions of a navigational system, such as system  100  of  FIG. 1 , system  220  of  FIG. 2 , and/or system  420  of  FIG. 4 , described above. For example, dashboard display view  500  may allow a user to adjust or modify one, some, or all of the elements of system  100 , system  220 , and/or system  420  according to a desired operation of system  100 , system  220 , system  420 , and/or mobile structure  101 . Depending on the application, dashboard display view  500  may be embodied as a graphical user interface (GUI) rendered on display  226  and/or display  426 . 
     As shown in  FIG. 5 , dashboard display view  500  may include one or more dialog windows, panels, or regions allowing the user to view information and control various functions of a navigational system. Such functions may include, but are not limited to, adding new navigational waypoints  502  and viewing, modifying, grouping, and/or searching existing navigational waypoints  502 , among others. In one or more embodiments, dashboard display view  500  may include, for example and without limitation, a waypoint list region  510 , a chart/map region  520 , and a command region  530 . 
     Waypoint list region  510  may contain information on one or more navigational waypoints  502 . For example, the waypoint list region  510  may contain any combination of the name, description, creation date, last modified date, position (relative and/or absolute), and number of waypoints, among others, of each navigational waypoint or group of navigational waypoints  502 . The information within waypoint list region  510  may be presented in a table, with the navigational waypoints or group(s) of navigational waypoints listed in respective rows and the different information of each navigational waypoint or group of navigational waypoints organized in respective columns. In some embodiments, the columns may be sortable and/or searchable. 
     One or more navigational waypoints  502  may be organized into one or more groups within waypoint list region  510 . In one example, one or more navigational waypoints  502  may be grouped together by date of creation. For instance, one or more navigational waypoints  502  may be grouped together into one or more of the following groupings: today&#39;s waypoints, this week&#39;s waypoints, last week&#39;s waypoints, this month&#39;s waypoints, last month&#39;s waypoints, this year&#39;s waypoints, last year&#39;s waypoints, or the like. In some embodiments, the groupings may be customizable by the user, such as organizing the navigational waypoints  502  by a desired date or date range. In another example, one or more navigational waypoints  502  may be grouped together by location, such as by a body of water (river, lake, etc.) or a geographic location (state, county, city, etc.). In another example, one or more navigational waypoints  502  may be grouped together by user defined criteria. For instance, the user may group one or more navigational waypoints  502  by trip or activity. The examples provided above are for illustration purposes, and one or more navigational waypoints  502  may be grouped together by other characteristics, including ownership type (public vs. private locations). In some examples, all navigational waypoints  502  may be grouped together into a single grouping. The groupings may or may not be mutually exclusive. For example, a single navigational waypoint may be organized into one or into a multiple of groups within waypoint list region  510  depending on the characteristic of the grouping (e.g., within both the “today&#39;s waypoints” and “this week&#39;s waypoints,” etc.). 
     Chart/map region  520  may include a graphical view of one or more navigational waypoints  502 . For instance, chart/map region  520  may display one or more navigational waypoints  502  overlaid on a chart/map image  522 . In some embodiments, chart/map region  520  may be interactive with waypoint list region  510 . Specifically, user selection of one or more navigational waypoints or groups of navigational waypoints within waypoint list region  510  may control and/or adjust the information rendered in chart/map region  520 . For example, user selection of one or more navigational waypoints or groups of navigational waypoints within waypoint list region  510  may cause the selected navigational waypoints or groups of navigational waypoints to be overlaid on chart/map image  522  within chart/map region  520 . In some embodiments, the chart/map image  522  may change depending on the selected navigational waypoints or groups of navigational waypoints within waypoint list region  510 . For instance, a first selected group or subset of navigational waypoints within waypoint list region  510  may define a first geographic centroid position and/or a positional extent. In such examples, the chart/map image  522  may display each navigational waypoint of the first selected group or subset of navigational waypoints, with the center of the chart/map image  522  corresponding to the first geographic centroid position and an extent of the chart view corresponding to the positional extent of the first selected group or subset of navigational waypoints. A second selected group or subset of navigational waypoints within waypoint list region  510  may define a second geographic centroid position. In such examples, the chart/map image  522  may be modified to display each navigational waypoint of the second selected group or subset of navigational waypoints, with the center of the modified chart/map image  522  corresponding to the second geographic centroid position and an extent of the chart view corresponding to the positional extent of the second group or subset of navigational waypoints. 
     Depending on the application, the different navigational waypoints or groups of navigational waypoints may be displayed within chart/map region  520  with different characteristics. For instance, a first selected navigational waypoint or group of navigational waypoints may be presented within chart/map region  520  with a first characteristic (e.g., first color, first color palette, first symbol, etc.). A second selected navigational waypoint or group of navigational waypoints may be presented within chart/map region  520  with a second characteristic (e.g., second color, second color palette, second symbol, etc.), with the second characteristic being different than the first characteristic. 
     Command region  530  may provide one or more selectors for receiving user input (e.g., touch input, mouse or keyboard input) provided by a user. In one or more embodiments, the command region  530  may include, for example and without limitation, a new waypoint button  532 , a timeline button  534 , a show/hide button  536 , and one or more search buttons, such as a simple search button  538  and an advanced search button  540 , each of which are implemented as a type of selector. Selection of each button within command region  530  may open a respective dialog or window within display view  500  and/or rendered by user interface  120 , as explained below. For example, user selection of new waypoint button  532  may open a new waypoint window or display view including one or more fields for entering information related to a new navigational waypoint (e.g., name, description, notes, tag or group, etc.). Selection of simple search button  538  may open a basic search window or display view allowing a user to search existing navigational waypoints  502  using basic criteria (e.g., tag, name, etc.). Selection of advanced search button  540  may open an advanced search window or display view, the advanced search window or display view allowing the user to search existing navigational waypoints  502  using more advanced criteria (e.g., creation date, Boolean search, etc.). Selection of show/hide button  536  may toggle between showing the (groups of) navigational waypoints  502  selected in waypoint list region  510  in chart/map region  520  or hiding the selected (groups of) navigational waypoints  502  in chart/map region  520 . Selection of timeline button  534  may open a timeline window or display view (see  FIG. 6 ) showing time series information of one or more (groups of) navigational waypoints  502  selected in waypoint list region  510 , as detailed below. 
     Each window, panel, or region as displayed within dashboard display view  500  may be customizable by the user, e.g., via different view configuration options. The configuration options may include, but are not limited to, window control options for resizing and repositioning each window within the dashboard display view  500  as desired by the user. For instance, each window may be maximized, minimized, closed, opened, added, or deleted within the dashboard display view  500  as desired. In one or more embodiments, the windows may function as individual GUI widgets within dashboard display view  500 . Accordingly, navigational system may include a software library (toolkit) containing a collection of GUI widgets that may be selectively added to or removed from the dashboard display view  500  as desired by the user. However, it should be appreciated that embodiments are not limited thereto and that the individual windows may be implemented as separate floating windows within a main application window or as separate panels within a single window. 
       FIG. 6  illustrates a diagram of a timeline display view  600  that may be rendered within a display of user interface  120 , e.g., in response to a user&#39;s selection of timeline button  534  of  FIG. 5 , as described above. In some embodiments, timeline display view  600  may be another panel or region within dashboard display view  500  or may be a separate dialog window displayed in response to user selection of timeline button  534 . Depending on the application, timeline display view  600  may overlay at least a portion of the dashboard display view  500  or may be a separate display view. 
     Timeline display view  600  may allow a user to view one or more selected navigational waypoints  502  against a timeline  610 . In one or more embodiments, timeline display view  600  may include one or more dialog windows, panels, or regions presenting one or more navigational waypoints  502  against timeline  610 . For example, and without limitation, timeline display view  600  may include a timeline map/chart region  620  and a timeline history region  630 . Similar to chart/map region  520  of  FIG. 5  described above, timeline map/chart region  620  may display one or more navigational waypoints  502  overlaid on a timeline chart/map image  622 . In one or more embodiments, timeline display view  600  may include a view results button  632  such that user selection of the view results button  632  opens a results window (see  FIG. 7 ) for further processing and/or control of the one or more navigational waypoints  502  displayed or selected within timeline display view  600 . 
     Timeline history region  630  may present timeline data of the navigational waypoints  502  selected in waypoint list region  510 . For instance, timeline history region  630  may include timeline  610  displaying creation dates of the selected navigational waypoints  502 . Timeline  610  may present the creation dates of the selected navigational waypoints  502  in chronological order. Depending on the application, timeline  610  may be presented in a graphic design or a list view. In one example, timeline  610  may be a graphic design showing a line  612  extending between start and end dates. The line  612  may be horizontal or vertical. Along line  612 , timeline  610  may indicate the number of navigational waypoints  502  created at each date or date block between the start and end dates. In the illustrative embodiment of  FIG. 6 , the number of navigational waypoints  502  created at each date or date block may be represented by a bar  614 , with each bar  614  extending orthogonally to line  612 , similar to a bar graph. In this manner, timeline  610  may provide a visual indication regarding the creation dates of the navigational waypoints  502 . 
     In one or more embodiments, a user may view, select, and/or modify a subset of navigational waypoints  502  based on a desired time. For example, timeline  610  within timeline history region  630  may be modified by the user to filter the user&#39;s navigational waypoint creation activity. For example, the user may modify the start and end dates of timeline  610  to show only navigational waypoints  502  within a desired time. In some  3   0  embodiments, timeline  610 , such as line  612 , may include a first end  616  and an opposing second end  618 . The first end  616  may correspond to the start date of timeline  610 . The second end  618  may correspond to the end date of timeline  610 . The first end  616  may be movable relative to the second end  618 , and the second end  618  may be movable relative to the first end  616 . In this manner, line  612 , or each end of line  612 , may be a slider. In such examples, the user may slide the first end  616  towards or away from second end  618  to vary the start date of timeline  610 . The user may slide the second end  618  towards or away from first end  616  to vary the end date of timeline  610 . In some embodiments, the user may slide the entire line  612 , with the distance between the first and second ends  616 ,  618  remaining fixed, to vary the start and end dates of timeline  610  an equal amount. In this manner, timeline  610  may be adjusted by the user as desired. 
     The timeline map/chart region  620  may be interactive with the adjustable timeline  610 . For instance, user adjustment of timeline  610  may control and/or adjust the information rendered in timeline map/chart region  620 . More particularly, only those navigational waypoints  502  including time data within the defined timeline may be rendered within (e.g., overlaid on) the timeline chart/map image  622 . For instance, only those navigational waypoints  502  including a date or time of creation falling between or on the start and end dates may be rendered in timeline chart/map image  622 . As the user adjusts the start and end dates or time of timeline  610 , navigational waypoints  502  may be added or deleted from timeline chart/map image  622 . For example, sliding first end  616  of timeline  610  towards second end  618  may delete navigational waypoints  502  from timeline chart/map image  622 , with the deleted navigational waypoints  502  including a date or time of creation earlier than that corresponding to the first end  616  of line  612 . Similarly, sliding first end  616  of timeline  610  away from second end  618  may add navigational waypoints  502  to timeline chart/map image  622 , with the added navigational waypoints  502  including a date or time of creation later than that corresponding to the first end  616  of line  612 . Sliding the second end  618  of timeline  610  towards or away from first end  616  may provide similar results. For instance, sliding second end  618  of timeline  610  towards first end  616  may delete navigational waypoints  502  from timeline chart/map image  622 , with the deleted navigational waypoints  502  including a date or time of creation later than that corresponding to the second end  618  of line  612 . Sliding second end  618  of timeline  610  away from first end  616  may add navigational waypoints  502  to timeline chart/map image  622 , with the added navigational waypoints  502  including a date or time of creation earlier than that corresponding to the second end  618  of line  612 . 
     In some embodiments, rather than deleting navigational waypoints  502  outside of the defined timeline  610 , the navigational waypoints  502  outside of the defined timeline  610  may be displayed within timeline map/chart region  620  with a different characteristic. For instance, the navigational waypoints  502  outside of the defined timeline  610  may be indicated within timeline chart/map image  622  with an “X” notation or graphic display, though other display characteristics are contemplated. In some embodiments, the timeline chart/map image  622  may change as timeline  610  is adjusted by a user. For example, a first configuration of timeline  610  may define a first geographic centroid position. In such examples, the timeline chart/map image  622  may display each navigational waypoint within the first configuration of timeline  610 , with the center of the timeline chart/map image  622  corresponding to the first geographic centroid position. A second configuration of timeline  610  may define a second geographic centroid position. In such examples, the timeline chart/map image  622  may be modified to display each navigational waypoint within the second configuration of timeline  610 , with the center of the modified timeline chart/map image  622  corresponding to the second geographic centroid position. 
       FIG. 7  illustrates a diagram of a timeline results display view  700  that may be rendered within a display of user interface  120 , e.g., in response to the user&#39;s selection of the view results button  632  of  FIG. 6 , described above. Depending on the application, the timeline results display view  700  may be another panel or region within dashboard display view  500  or timeline display view  600 , for example, or may be a separate window or display view rendered in response to user selection of the view results button  632 . 
     Timeline results display view  700  may allow a user to view, modify, or control the navigational waypoints  502  within the defined timeline  610 . In one or more embodiments, timeline results display view  700  may include one or more dialog windows, panels, or regions allowing the user to view information and control various functions related to the navigational waypoints  502  within the defined timeline  610 . The timeline results display view  700  may include, for example and without limitation, a results list region  610 , a results map  620 , and a command region  630 . 
     Results list region  610  may contain information related to the navigational waypoints  502  within the defined timeline  610  of  FIG. 6 . For example, the waypoint list region  510  may contain any combination of the name, description, date of creation, and position (relative and/or absolute), among others, of each navigational waypoint within the defined timeline  610 . The information within waypoint list region  510  may be presented in a table, with the navigational waypoints  502  listed in respective rows and the different information of each navigational waypoint organized in respective columns In some embodiments, the columns may be sortable and/or searchable. Results chart/map  620  may include a graphical view of the navigational waypoints  502  falling within the defined timeline  610 , such as displaying the navigational waypoints  502  overlaid on a chart/map image  622 , similar to chart/map image  522  of  FIG. 5  and timeline chart/map image  622  of  FIG. 6 , described above. 
     Command region  630  may provide one or more selectors for receiving user input (e.g., touch input, mouse or keyboard input) provided by a user. The command region  630  may include, for example and without limitation, a new search button  632 , a sort button  634 , a multi-edit button  636 , and an export button  638 , each of which are implemented as a type of selector. Selection of each button within command region  630  may open a respective dialog, window, or command prompt within display view  700  and/or rendered by user interface  120 . For example, user selection of the new search button  632  may open a dialog window or display view (e.g., timeline display view  600  of  FIG. 6 , described above) allowing the user to modify the start and end dates of timeline  610 . User selection of the sort button  634  may open a dialog window or command prompt or display view allowing the user to specify how to sort the results within results list region  610  (e.g., by name, creation date, etc.). User selection of the multi-edit button  636  may open a dialog window or command prompt or display view allowing the user to batch edit the navigational waypoints  502  within the defined timeline  610  (e.g., batch delete, tag, modify, export, etc.). User selection of the export button  638  may open a dialog window or command prompt or display view allowing the user to export one or more of the navigational waypoints  502 . 
       FIG. 8  illustrates a flowchart of a process  800  for rendering navigational waypoints according to a timeline in accordance with an embodiment of the disclosure. Any step, sub-step, sub-process, or block of process  800  may be performed in an order or arrangement different from the embodiments illustrated by  FIG. 8 . For example, in other embodiments, one or more blocks may be omitted from or added to the process. Furthermore, block inputs, block outputs, various sensor signals, sensor information, calibration parameters, and/or other operational parameters may be stored to one or more memories prior to moving to a following portion of a corresponding process. Although process  800  is described with reference to systems and display views described in reference to  FIGS. 1-7 , process  800  may be performed by other systems and display views different from those systems and display views and including a different selection of electronic devices, sensors, assemblies, mobile structures, mobile structure attributes, and/or display view elements, as described herein. 
     Process  800  may include receiving user input defining a plurality of navigational waypoints (block  802 ). For example, user selection of new waypoint button  532  may create a new navigational waypoint  502 . User selection of new waypoint button  532  may cause controller  130  to receive navigational data from sensors  140 - 146  to define the new navigational waypoint  502 . In some embodiments, the navigational data may include position and/or orientation data, as described herein. For instance, each navigational waypoint  502  may be defined by position data received from at least one position sensor, such as GNSS  146  described herein. In other embodiments, each navigational waypoint  502  may be defined by position data corresponding to the user input used to select or define the navigational waypoint, such as relative to a chart rendered by a display of user interface  120 . In various embodiments, each navigational waypoint  502  may be defined by a time stamp corresponding to the user input and/or the positions data. Such time data may be received from a position sensor, for example, or a time module (e.g., a digital clock), which may be integrated with controller  130  and/or user interface  120 . For example, each navigational waypoint  502  may have a date of creation and/or a time of creation. 
     Process  800  may include receiving user input defining a timeline (e.g., timeline  610  of  FIG. 6 , described above) with a start point and an end point (block  804 ). For example, timeline  610  may be defined by modifying opposing ends of a slider or bar (e.g., line  612  of  FIG. 6 , described above). As described above, sliding first end  616  of timeline  610  may modify the start point of timeline  610 . Sliding second end  618  of timeline  610  may modify the end point of timeline  610 . In one or more embodiments, the timeline defines a range of dates with a start date and an end date The timeline may define a range of times with a start time and an end time. 
     Process  800  may include rendering, on a display (e.g., display  226  of  FIG. 2 ), a subset of the plurality of navigational waypoints  502  defined in block  802 , wherein the time stamp of each navigational waypoint  502  of the subset of navigational waypoints corresponds to the timeline defined in block  804  (block  806 ). In one or more embodiments, the date of creation for each navigational waypoint  502  of the subset of navigational waypoints falls between or includes a start date and end date of timeline  610 . In additional embodiments, the time of creation for each navigational waypoint  502  of the subset of navigational waypoints may fall between or include a start time and end time of timeline  610 . The subset of navigational waypoints may be overlaid on a chart or map image (e.g., chart/map image  622  of  FIG. 6 , described above) rendered by a display of user interface  120  (e.g., display  226 ). As timeline  610  is modified by a user, for example as the user modifies the start and end points of timeline  610 , the subset of navigational waypoints rendered on such display may change dynamically. For example, shrinking timeline  610  may decrease the number of navigational waypoints  502  rendered on display  226  and/or decrease the view extents of chart  622 . Conversely, expanding timeline  610  may increase the number of navigational waypoints  502  rendered on display  226  and/or expand the view extents of chart  622 . 
     Where applicable, various embodiments provided by the present disclosure can be implemented using hardware, software, or combinations of hardware and software. Also, where applicable, the various hardware components and/or software components set forth herein can be combined into composite components comprising software, hardware, and/or both without departing from the spirit of the present disclosure. Where applicable, the various hardware components and/or software components set forth herein can be separated into sub-components comprising software, hardware, or both without departing from the spirit of the present disclosure. In addition, where applicable, it is contemplated that software components can be implemented as hardware components, and vice-versa. 
     Software in accordance with the present disclosure, such as non-transitory instructions, program code, and/or data, can be stored on one or more non-transitory machine-readable mediums. It is also contemplated that software identified herein can be implemented using one or more general purpose or specific purpose computers and/or computer systems, networked and/or otherwise. Where applicable, the ordering of various steps described herein can be changed, combined into composite steps, and/or separated into sub-steps to provide features described herein. 
     Embodiments described above illustrate but do not limit the invention. It should also be understood that numerous modifications and variations are possible in accordance with the principles of the invention. Accordingly, the scope of the invention is defined only by the following claims.