Patent ID: 8532951

Claim:
An iterative method for calibrating a transducer array characterized by calibration parameters, based on time delay measurements between transducer pairs, comprising the steps of: a. receiving an estimate of the positions of the transducers; b. at a data controller, forming a time delay measurement data set that includes time delay measurements between transducer pairs, including non-faulty time delay measurements and any faulty time delay measurements; c. at an estimation engine, generating from the time delay measurement data set an estimate of at least one calibration parameter; d. at the data controller, modifying the time delay measurement data set including the faulty time delay measurements, based on the estimated of at least one calibration parameters; e. at the data controller, modifying the estimated positions of the transducers based on the estimated of at least one calibration parameters; f. determining a test value to compare to a stopping criterion; and g. repeating steps (c) through (f) until the test value satisfies the stopping criterion.