公开(公告)号：US11724787B2

公开(公告)日：2023-08-15

申请号：US16534038

申请日：2019-08-07

Applicant: Raytheon Company

Inventor： Thomas E. Wood ,  John R. Short

IPC: B63G8/08 ,  B63G7/08 ,  B63G8/00 ,  G01S5/02 ,  G01S15/89 ,  G05D1/06 ,  B63G7/00

CPC classification number: B63G8/08 ,  B63G7/08 ,  B63G8/001 ,  G01S5/0294 ,  G01S15/8981 ,  G05D1/0692 ,  B63G2007/005

Abstract: A method comprising: providing an autonomous vehicle (AV) with a first estimated position of a target; directing the AV to travel toward the first estimated position at a constant velocity; receiving echo signals of transmitted sonar signals, the echo signals indicating a range and an azimuth of the target; determining a depth difference of the AV and the target based on the received echo signals, the depth difference being determined based on changes to the range and azimuth of the target over time; and in response to a depth difference existing, re-directing the AV toward a second estimated position of the target generated from the depth difference.

公开(公告)号：US20210039762A1

公开(公告)日：2021-02-11

申请号：US16534038

申请日：2019-08-07

Applicant: Raytheon Company

Inventor： Thomas E. Wood ,  John R. Short

IPC: B63G8/08 ,  B63G8/00 ,  B63G7/08 ,  G05D1/06 ,  G01S5/02 ,  G01S15/89

Abstract: A method comprising: providing an autonomous vehicle (AV) with a first estimated position of a target; directing the AV to travel toward the first estimated position at a constant velocity; receiving echo signals of transmitted sonar signals, the echo signals indicating a range and an azimuth of the target; determining a depth difference of the AV and the target based on the received echo signals, the depth difference being determined based on changes to the range and azimuth of the target over time; and in response to a depth difference existing, re-directing the AV toward a second estimated position of the target generated from the depth difference.