Sonar navigation system

Abstract

A forward look sonar system in which speed and direction of a sonar platform is obtained. Each acoustic transmission towards the target area over which the platform is traveling is comprised of a plurality of frequencies. A plurality of receiver beams is formed and each individual beam from one transmission is cross-correlated with its corresponding beam from a selected subsequent transmission to derive a delay value. The later received signal for each beam, for each frequency is divided into a plurality of small segments each of which is cross-correlated with a portion of the first return signal corresponding to the same frequency and beam. The cross-correlation functions for the plurality of frequencies for each particular segment are added together to obtain a more precise delay value. The correlation functions for each of the beams are added together and compared to derive a value for platform direction in the intercomparison period and the delay values are utilized to derive a velocity indication.