U.S. patent number 3,824,531 [Application Number 05/323,602] was granted by the patent office on 1974-07-16 for plural beam steering system.
This patent grant is currently assigned to Raytheon Company. Invention is credited to George M. Walsh.
United States Patent |
3,824,531 |
Walsh |
July 16, 1974 |
PLURAL BEAM STEERING SYSTEM
Abstract
A system for forming and steering beams of radiation at a
plurality of frequencies radiated into a medium capable of
producing a nonlinear reaction between these beams resulting in a
radiant energy signal having a resultant frequency equal to an
arithmetic combination of the radiated frequencies. The beam
forming is accomplished by an array of radiating elements arranged
preferably in a random fashion to produce a directivity pattern
having a main lobe while minimizing the magnitudes of side lobes.
The steering is accomplished by variable delay lines coupled
between a source of signals at the radiated frequencies and the
array of radiating elements providing for individual delays to each
of these radiating elements so that each of the beams can be
steered with individually controllable steering angles. The delays
are varied in accordance with command signals from a beam steering
computer to direct the main lobes of the radiation patterns through
a common region of the medium as the beams are scanned, this
resulting in a scanned beam at the resultant frequency. The signal
resulting from the nonlinear reaction may be correlated with a
replica thereof, the replica being generated in conjunction with
the two radiated frequencies.
Inventors: |
Walsh; George M. (Middletown,
RI) |
Assignee: |
Raytheon Company (Lexington,
MA)
|
Family
ID: |
23259917 |
Appl.
No.: |
05/323,602 |
Filed: |
January 15, 1973 |
Current U.S.
Class: |
367/92; 367/100;
367/103; 367/138; 342/374; 367/102; 367/105 |
Current CPC
Class: |
G01S
15/02 (20130101) |
Current International
Class: |
G01S
15/02 (20060101); G01S 15/00 (20060101); G01s
009/66 () |
Field of
Search: |
;340/3R,3FM |
References Cited
[Referenced By]
U.S. Patent Documents
|
|
|
3613069 |
October 1971 |
Cary, Jr. et al. |
|
Primary Examiner: Farley; Richard A.
Attorney, Agent or Firm: Bartlett; M. D. Pannone; J. D.
Warren; D. M.
Claims
What is claimed is:
1. A scanning sonar system comprising:
means for radiating sonic energy in a first and in a second sonic
radiation pattern respectively at a first and a second frequency in
a medium capable of producing nonlinear acoustic effects, each of
said radiation patterns having a main lobe and side lobes, each of
said main lobes being directed through a common region of said
medium, the side lobes of said first radiation pattern ensonifying
regions of said medium separate from regions of said medium
ensonified by side lobes of said second radiation pattern;
means for altering the directions of each of said main lobes and
said side lobes relative to said radiating means, each of said
altered main lobes being directed through a common region of said
medium, the altered side lobes of said first radiation pattern
ensonifying regions of said medium separate from regions of said
medium ensonified by altered side lobes of said second radiation
pattern; and
means coupled to said radiating means for generating said sonic
energy at a sufficiently high intensity level for providing a
nonlinear reaction in the common region of said medium ensonified
by said main lobes wherein radiant acoustic energy is provided at a
third frequency equal to an arithmetic combination of said first
and said second frequencies.
2. A system according to claim 1 wherein said altering means
comprises means for delaying a signal radiated from a portion of
said radiating means relative to a signal radiated from another
portion of said radiating means.
3. A system according to claim 2 wherein said delaying means
comprises a multiply tapped delay medium and a plurality of
switches interconnecting respective ones of said taps with
respective portions of said radiating means.
4. A system according to claim 3 wherein said delay medium
comprises a pair of shift registers.
5. The system according to claim 4 comprising means for generating
a generally square shaped waveform at said first frequency and a
generally square shaped waveform at said second frequency, and
means for sampling said waveform at said first frequency and said
waveform at said second frequency at a sampling rate higher than
said first frequency and higher than said second frequency, said
sampling means being coupled to said shift registers.
6. A system according to claim 5 including oscillator means for
providing said waveform at said first frequency, said system
further comprising a signal generator and means for combining an
output of said signal generator with an output of said oscillator
means to provide said waveform at said second frequency.
7. In combination:
a plurality of radiating elements positioned for coupling radiant
energy into a medium capable of inducing a nonlinear reaction
between waves of such radiant energy propagating through said
medium;
first means for energizing a plurality of said radiating elements
with a signal at a first frequency;
second means for energizing a plurality of said radiating elements
with a signal at a second frequency and an intensity which is
sufficiently high to induce said nonlinear reaction in said medium
between waves of the energies at said first frequency and said
second frequency;
said first energizing means including means coupled to respective
ones of said radiating elements for steering a wave front of
radiation at said first frequency; and
said second energizing means including means coupled to respective
ones of said radiating elements for steering a wave front of
radiation at said second frequency in a direction for intercepting
a region of said medium illuminated by said radiation at said first
frequency for providing said nonlinear reaction in said commonly
illuminated region, said nonlinear reaction resulting in a signal
radiated at a third frequency different from said first and said
second frequency.
8. A combination according to claim 7 wherein said first energizing
means includes means for providing a sample of said signal at said
third frequency, said sample being suitable for a correlation of
said sample with said signal radiated at said third frequency.
9. A combination according to claim 8 wherein said second
energizing means includes an oscillator for providing a signal at
said second frequency.
10. A combination according to claim 9 wherein said first
energizing means includes means for combining said signal of said
oscillator with said sample to provide a signal at said second
frequency.
11. The combination according to claim 10 wherein said first
energizing means and said second energizing means includes means
for sampling said signal of said oscillator and said signal of said
combining means.
12. A combination according to claim 11 wherein said steering means
of said first energizing means includes a delay medium coupled to
the sampling means of said first energizing means, said delay
medium providing a set of delays of said sampled signal, said
steering means of said first energizing means further comprising
means for selectively coupling delays of said delay medium to said
respective ones of said radiating elements.
13. A combination according to claim 7 wherein said plurality of
radiating elements are positioned in an array, said array of
radiating elements including radiating elements positioned for
coupling radiant energy at said third frequency from said medium
for receiving said radiant energy.
Description
BACKGROUND OF THE INVENTION
In the past, numerous experiments have been conducted for examining
a parametric interaction of two beams of sonic energy which are
radiated at two different frequencies through a nonlinear medium,
this interaction providing a beam of sonic energy radiated at other
frequencies, each of which is equal to an arithmetic combination of
the first two frequencies. The other frequencies most commonly
examined are the sum and difference frequencies. The difference
frequency radiation, as has been disclosed in a copending
application for United States patent entitled "System for
Low-Frequency Transmission of Radiant Energy," Ser. No 111,218,
filed Feb. 1, 1971 by William L. Konrad and Mark A. Chramiec, now
abandoned, is particularly useful for providing low frequency
transmission in a narrow beam from a relatively small size radiator
and furthermore is useful for penetrating material such as the
ocean bottom from which higher frequencies tend to be reflected. It
is also known that the attenuation of sonic radiations in a fluid
medium such as water varies with the frequency of the radiation
such that lower frequencies experience less attenuation than higher
frequencies. At long ranges from a source of sound where both the
high frequencies and the low frequencies are of relatively low
intensities due to the attenuation effects of the medium, the
intensity of the lower frequency radiation may well be stronger
than the intensity of the higher frequency radiations due to the
selective attenuation even though, initially, the intensities of
the higher frequency radiations were much greater than the
intensity of the lower frequency radiation produced by the
parametric interaction of the higher frequency radiations. As a
practical matter, the intensity of the lower frequency radiation,
as reflected off the sand or muck at the bottom of a harbor, is of
such low intensity that detection of the low frequency radiation is
obtained by correlation techniques in which the reflected signals
are compared with a replica generated synthetically
Maximum utilization of the difference frequency radiation requires
a capability for steering a beam of this radiation for purposes
such as scanning the bottom of a harbor, as well as stabilizing the
beam during the rocking of a boat carrying equipment for generating
the beam. A problem arises in that, since the beam of radiation at
the difference frequency arises from the nonlinear interaction of
two beams of radiation at higher frequencies, each of the higher
frequency beams must be steered in such a manner that the resultant
difference frequency beam can be formed and be steered in a desired
direction. It is also apparent that a radiating transducer or
projector of sonic energy does not produce a single lobed beam but,
rather, produces radiation having a directivity pattern
characterized by a main lobe plus a multiplicity of side lobes
whose relative amplitudes depend on factors such as the size of the
projector and, if the projector consists of an array of radiating
elements, upon the spacing of these elements. It is readily
apparent that in the steering of the two beams of higher frequency
radiation, each of which is characterized by a multiple lobed
directivity pattern, that care is required to insure that the side
lobes of the respective directivity patterns are so oriented with
respect to the projector that there is no substantial overlapping
of the side lobes as might result in the parametric interaction of
the side lobes to produce a multiplicity of differently oriented
beams of radiation at the difference frequency. An additional
problem must also be considered, namely, that in any sonar system
utilizing a beam of radiation at the difference frequency, it is
most probable that some form of signal modulation will be utilized,
particularly if correlation techniques are to be employed in the
reception of the difference frequency radiation; such modulation
must necessarily be present on at least one of the high frequency
radiation beams, this presenting the requirement for preserving the
temporal relationships of the modulation on one high frequency beam
relative to the other high frequency beam as these beams are
steered about a projector which may well have a length equal to
many wavelengths of the high frequency radiations.
SUMMARY OF THE INVENTION
The aforementioned problems are overcome and other advantages of
beam steering are provided by a system, in accordance with the
invention, which comprises an array of transducer elements which
radiate radiant energy at a first frequency and at a second
frequency, the radiating elements being positioned for forming
beams of the radiant energy and directing these beams into a
nonlinear medium such as sea water, to provide a parametric
interaction between these beams of energy. This interaction, which
is associated with the wave propagation characteristic often
referred to as finite amplitude, produces a resultant beam of
energy emanating from a region of the medium which is illuminated
simultaneously by the beams of radiation at the first and at the
second frequencies, the resultant radiation having frequencies
which are equal to arithmetic combinations of the first and the
second frequency. Of particular interest herein is the resultant
beam having a frequency equal to the difference of the first and
the second frequencies. The invention further comprises means for
generating signals at the first and the second frequencies having a
desired modulation, and means for coupling and selectively delaying
each of these signals to each of the transducer elements. In one
embodiment of the invention, the delayed signals at the first
frequency are coupled to half of the transducer elements while the
delayed signals at the second frequency are coupled to the
remaining half of the transducer elements, the transducer elements
operating at the first frequency being interleaved with the
transducer elements operating at the second frequency so that there
is a common phase center for the beams of radiation produced by the
sets of transducer elements operating at the first and the second
frequencies. A receiving system is also disclosed in which
provisions are made for generating a replica of the difference
frequency signal for correlation with a signal received from the
medium at the difference frequency. In an alternative embodiment of
the invention, the delayed signals at the first frequency are
summed together with the delayed signals at the second frequency
and applied to the radiating elements so that each radiating
element transmits both a signal at the first frequency and a signal
at the second frequency. With either embodiment of the invention,
the temporal relationship is retained between the modulation of the
signal at the first frequency and the signal at the second
frequency at all points along the array of transducer elements by
virtue of the variable delays, these delays being provided by a
computer in accordance with interferometric principles.
BRIEF DESCRIPTION OF THE DRAWINGS
The aforementioned aspects and other features of the invention are
explained in the following description taken in connection with the
accompanying drawings wherein:
FIG. 1 is a pictorial view of a boat carrying a scanning sonar
system of the invention for scanning the ocean bottom;
FIG. 2 is a block diagram of the scanning sonar system in FIG.
1;
FIG. 3 shows a diagram of one embodiment of an transducer system
comprising an array of radiating elements for use in the system of
FIG. 2;
FIG. 4 is a diagram of an alternative embodiment of the transducer
system of FIG. 3;
FIGS. 5 and 6 show respectively the directivity patterns of radiant
energy directed straight away from a projector and at an angle
relative to the projector, a pair of directivity patterns being
shown for radiant energy at a first and at a second frequency.
DESCRIPTION OF THE PREFERRED EMBODIMENT
Referring now to FIG. 1, there is shown a system 20 comprising an
transducer system 22 positioned at the bottom of a ship 24 for
forming a beam 26 of radiant acoustic energy and for directing the
beam 26 towards an object such as driftwood 28 submerged in the
ocean 30 and towards an object such as a pipe 32 buried in the sand
34 beneath the ocean 30. The system 20 further comprises a beam
forming system 36, a receiving system 38 and a hydrophone 40, the
transducer system 22 being coupled to the beam forming system 36
via electrical conductors indicated by lines 42, individual ones of
these lines 42 being labeled A.sub.1 --A.sub.n and B.sub.1
--B.sub.n, as will be more fully explained in FIG. 2. Timing
signals are provided by the beam forming system 36 along line 44 to
the receiving system 38, and signals from the hydrophone 40 are
transmitted along line 46 to the receiving system 38.
As will be disclosed subsequently, the transducer system 22
comprises a projector array 48 which forms two coincident beams of
radiant sonic energy, the frequencies of these radiations differing
slightly. The amplitudes of these radiations are sufficiently high
to generate the aforesaid beam 26 which is at a frequency equal to
the difference between the two frequencies of the radiations
emanating from the projector array 48, the beam 26 arising through
a nonlinear interaction, involving the finite amplitude effect, of
the two beams emanating from the projector array 48 with the waters
of the ocean 30. The widths of the beams of energy radiating from
the projector array 48 differ slightly because of their differing
frequencies but are approximately equal to the width of the low
frequency beam 26. The low frequency radiations are indicated by
waves 50 and 52 which are respectively incident upon and reflected
by the driftwood 28 and the pipe 32. The beam 26 is made to scan
the sand 34 at the bottom of the ocean 30 in a novel manner, to be
described hereinafter, by means of the beam forming system 36 and
the transducer system 22 so that data relative to submerged objects
in the ocean 30 are communicated via the waves 52 to the hydrophone
40.
Referring now to FIG. 2, there is presented a block diagram of the
system 20 which shows the transducer system 22, the hydrophone 40,
the beam forming system 36 and the receiving system 38 previously
seen in FIG. 1. The beam forming system 36 provides a signal
modulation suitable for sonar operations, two high frequency
signals suitable for transmission from the projector array 48, and
means for coupling the signals to each element of the projector
array 48 to form the beam 26. The beam forming system 36 comprises
a signal generator 54, an oscillator 56, a mixer 58, a timing unit
60, a clock 62, two clippers 64 and 66, two AND gates 68 and 70,
two shift registers 72 and 74, and a computer 76 responsive to
clock pulse signals on line 78 from the clock 62 and ship
orientation signals on line 80 from the ship's gyrocompass
indicated as gyro 82 in the figure. The beam forming system 36 also
comprises a set of switches 84 which are coupled to the transducer
system 22 by filters 86, and switches 88 which are coupled to the
transducer system 22 via filters 90. Each of the switches 84 and 88
are digital multiplexing switches which, in response to a multibit
command signal from the computer 76, couple selected outputs from
respectively the shift registers 74 and 72 via the filters 86 and
90 to the transducer system 22. The outputs from the shift
registers 72 and 74 are seen coupled to the switches 84 and 88 via
cables 92 and 94. Each of the cables carrying the multibit command
signals from the computer 76 to the switches 84 and 88 comprise a
set of parallel lines which are shown in the figure by a heavy line
and identified by the numeral 96, it being understood that each of
the cables 96 are usually carrying different command signals to
respective ones of the switches 84 and 88.
The signal generator 54 may be of any well-known form for providing
a signal modulation suitable for sonar operations, and is shown by
way of example as a swept frequency oscillator for producing a
frequency modulation. A graphical representation of the signal is
shown in the block representing the signal generator 54. The signal
generator 54 provides a pulsed sinusoid in which the frequency of
the sinusoid is seen to vary during each pulse with a pattern that
repeats from pulse to pulse. The frequency of the signal is
represented by the symbol F.sub.1, this symbol also serving to
identify the line coupling this signal from the signal generator 54
to the mixer 58.
The oscillator 56 provides a continuous sinusoidal wave signal to
the mixer 58 and the clipper 66, this signal being identified by
the symbol F.sub.2 and having a frequency F.sub.2 which is very
much greater than the frequency F.sub.1. The mixer 58 combines the
two signals having the frequencies F.sub.1 and F.sub.2 to provide
an output signal on line 98 having the frequency F.sub.1 + F.sub.2,
it being understood that the mixer 58 is of conventional design and
includes a suitable band-pass filter for insuring that only the
signal having the frequency F.sub.1 + F.sub.2 is coupled to the
clipper 64.
The clipper 64 converts the sinusoidal signal appearing on line 98
to a signal having a substantially square waveform on line 100, the
square waveform having a repetition frequency equal to F.sub.1 +
F.sub.2. Similarly, the clipper 66 converts the signal on line 102
to a square wave signal on line 104. The signals on lines 100 and
104 are applied respectively to AND gates 68 and 70.
The AND gates 68 and 70 are utilized as sampling circuits for
providing a succession of samples for each period of the square
wave on line 100 and the square wave on line 104. The clock 62
provides clock pulses on line 106 to the AND gates 68 and 70. The
AND gate 68 in response to the coincidence of a clock pulse on line
106 and a positive portion of the square wave on line 100, this
corresponding to a logic state of 1, provides a pulse having a
logic state of 1 on line 108. Similarly, the AND gate 70 provides a
pulse on line 110 corresponding to the coincidence of the clock
pulse on line 106 and the positive portion of the square wave on
line 104. Since the repetition frequency of the clock pulses on
line 106 is very much greater than that of either the square wave
on line 100 or the square wave on line 104, for example,
approximately 512 clock pulses may be provided for each period of
the square wave on line 100, the sequence of pulses appearing on
line 108 has the form shown in the graph 112 in which a sequence of
256 pulses appears over an interval of time equal to one-half the
period of the square wave on line 100, this being followed by an
interval of time equal to one-half the period of that square wave
in which no pulses are seen on line 108, thereafter this pattern
repeating itself. Clock pulses from the clock 62 are also sent to
the timing unit 60 which comprises suitable countdown circuitry to
provide synchronizing pulses on lines 114, 115 and 116 to
synchronize the operation of the signal generator 54 with the
sampling by the AND gates 68 and 70, the operation of the computer
76, and the operation of a display 118 and a correlator 120 which
will be described subsequently.
The shift registers 72 and 74 are clocked by the clock pulses on
line 106 to admit successive pulses in the train of pulses
appearing on the lines 108 and 110, respectively. Since the
repetition frequencies of the pulses on the lines 100 and 104 are
unequal, the repetition frequencies of the pulses appearing on the
lines 108 and 110 are unequal. It is furthermore noted that the
frequency of the pulses on line 108 varies in accordance with the
modulation provided by the signal generator 54, and that these
pulses disappear completely in the intervals between the pulses of
the F.sub.1 sinusoid appearing at the output of the signal
generator 54. Due to the lack of synchronism between the clock
pulses on line 106 and the square wave on line 100, the number of
pulses appearing on line 108 for each half cycle of the square wave
varies slightly from period to period of this square wave. Similar
comments apply to the relationship between the pulses on line 110
and the pulses on line 104. The pulses on line 108 advance through
the shift register 72 and are dropped when they reach the end of
the shift register 72; similarly, the pulses on line 110 advance
through the shift register 74 and are dropped when the reach the
end thereof.
It is apparent that the waveform appearing at any one cell of the
shift register 72 is identical to the waveform appearing on line
108 except that it is delayed in time, different delays being
provided by each cell of the shift register 72. In a similar way,
delayed replicas of the pulse train on line 110 appear at
successive cells of the shift register 74.
Referring momentarily to FIG. 3, there is seen a diagrammatic view
of one embodiment of the transducer system 22 in which the
projector array 48 is seen comprising transducer elements 122. The
transducer system 22 also comprises a set of power amplifiers 124
of which individual amplifiers couple respective ones of the lines
42 to the transducer elements 122. The transducer elements 122 are
further labeled A.sub.l --A.sub.n and B.sub.l --B.sub.n, these
labels corresponding to the labeling of the lines 42 which couple
the beam forming system 36 to the transducer system 22 as seen in
FIGS. 1 and 2. It is noted that the transducer elements 122 labeled
A.sub.l --A.sub.n are interleaved in a random manner among the
transducer elements 122 labeled B.sub.l --B.sub.n, as described
hereinafter.
Referring now to both FIGS. 2 and 3, it is seen that the outputs of
the switches 84 are coupled via filters 86 along respective ones of
the lines 42 labeled A.sub.l --A.sub.n through respective ones of
the power amplifiers 124 to the transducer elements 122 labeled
respectively A.sub.l --A.sub.n. Similarly, the outputs of the
switches 88 are coupled via filters 90 via respective ones of the
lines 42 labeled B.sub.l --B.sub.n through respective ones of the
power amplifiers 124 to the transducer elements 122 labeled
respectively B.sub.1 --B.sub.n. In response to signals on
respective ones of the lines 96, each of the switches 84 couple
replicas of the signal on line 110 to the respective filters 86,
the amount of delay in the replica of the signal on line 110 being
determined by the particular cell of the shift register 74 that has
been selected by the switch 84. Similarly, the switches 88 select
delayed replicas of the signal on line 108 and apply them to the
filters 90. The filter 86 has a band-pass characteristic suitable
for filtering out frequencies associated with the sampling
frequency or, equivalently, the repetition frequency of the clock
pulses on line 106. For example, each filter 86 may be a band-pass
filter centered about the frequency F.sub.2 with an upper frequency
cutoff which is well below a harmonic of the square wave signal on
line 104 and also well below the frequency of the clock pulses on
line 106. In this way, each of the signals appearing on the lines
42 labeled A.sub.l --A.sub.n are sinusoids having the frequency
F.sub.2 but are delayed from the signal appearing on line 110. In a
similar manner, the filters 90 are provided with a band-pass
characteristic which passes the frequency F.sub.1 + F.sub.2 but
excludes frequencies of a harmonic of the square wave signal
appearing on line 100 and excludes the repetition frequency of the
clock pulses on line 106. Thus, the signals appearing on the lines
42 labeled B.sub.l --B.sub.n are sinusoids having the frequency
F.sub.1 + F.sub.2 are delayed from the signal appearing on line
108. Thus, the transducer elements 122 labeled A.sub.l --A.sub.n
are energized with a sinusoid of frequency F.sub.2 while the
transducer elements 122 labeled B.sub.l --B.sub.n are energized
with a sinusoid having a frequency of F.sub.1 + F.sub.2. If
desired, the filters 86 and 90 may be eliminated in those cases
where it is desired to use a narrow band-pass filter characteristic
of the transducer elements 122 for filtering out the higher
frequency components of the signal appearing in the outputs of the
switches 84 and 88. For example, transducer elements of a
well-known piezoelectric characteristic such as transducer elements
of barium titanate have a narrow band filter characteristic which
may be utilized in lieu of the filters 86 and 90. However, the
filters 86 and 90 are preferred in that they minimize the chance of
any intermodulation distortion in the set of power amplifiers
124.
The transducer elements 122 labeled A.sub.l --A.sub.n may be
separated by a spacing of one-half wavelength at the frequency
F.sub.2 and are interleaved among the transducer elements 122
labeled B.sub.l --B.sub.n which are similarly spaced part by a
spacing of one-half wavelength at the frequency F.sub.1 + F.sub.2.
This interleaving is done in a random fashion to minimize the
amplitudes of side lobes appearing in the directivity patterns of
radiations at the frequency F.sub.2 and F.sub.1 + F.sub.2. In
addition, the half wavelength spacing also reduces the magnitude of
these side lobes. As is known from antenna theory, these spacings
may be made still smaller to further reduce the amplitude of the
side lobes. However, it is interesting to note that because of the
utilization of the finite amplitude effects, the interelement
spacing between the transducer elements 122 labeled A.sub.l
--A.sub.n and the interelement spacing between the transducer
elements labeled B.sub.l --B.sub.n may be increased up to a full
wavelength and even beyond producing multiple lobed directivity
patterns in which the intensities of the side lobes are relatively
high compared to the main lobe as will be described hereinafter
with reference to FIGS. 5 and 6. The directivity patterns having
side lobes of minimal amplitudes are preferred since they place
more power in the main lobe where it is more efficiently
utilized.
The sonic radiation emanating from the projector array 48 at the
frequency F.sub.2 radiates outwardly in a direction normal to the
face of the projector array 48 when the switches 84 have selected
equal delays for each of the signals on the lines 42 labeled
A.sub.l --A.sub.n. When these delays have been selected such that
the signals emanating from the transducer elements 122 near one end
of the projector array 48 have a greater delay than the signals
emanating from the opposite end of the projector array, it being
pressumed that there is a uniform delay taper across the face of
the array 48 and that the amount of delay experienced by the signal
of any one transducer element 122 is proportional to the distance
of that transducer element from the end of the array experiencing
the minimal delay, then the radiation emanating at the frequency
F.sub.2 is directed at an angle away from the normal to the array
base. By suitably selecting the delay for each of the transducer
elements 122 labeled A.sub.l --A.sub.n, the beam of acoustic energy
radiated at the frequency F.sub.2 may be steered about two axes,
namely, the roll axis and pitch axis of the ship 24 of FIG. 1.
Similar comments apply to the sonic energy radiated at the
frequency F.sub.1 + F.sub.2.
As shown in FIG. 2, the receiving system 38 comprises a
preamplifier 126, the correlator 120 and display 118. Acoustic
energy radiated from the projector array 48 and reflected off the
driftwood 28 and pipe 32 is received by the hydrophone 40, which
may be of conventional design, and amplified by the preamplifier
126. The computer 76 provides beam steering commands simultaneously
for both the beams of acoustic energy radiated at the frequencies
F.sub.2 and F.sub.1 + F.sub.2 so that the main lobes of their
respective directivity patterns are directed in the same direction.
The acoustic energies at these two frequencies ensonify the water
of the ocean 30 with sufficient intensity to induce the nonlinear
finite amplitude reaction which results in the generation of
acoustic energies at a number of frequencies each of which is equal
to an arithmetic combination of the frequencies F.sub.2 and F.sub.1
+ F.sub.2. The sonic radiation produced at the difference of these
two frequencies, namely, F.sub.1, is particularly useful in that it
is attenuated far more slowly than the higher frequency radiations
and grows in relative amplitude with increasing distance from the
projector array 48. Of particular interest is the fact that this
low frequency radiation can penetrate the sand 34 and detect
submerged objects such as the pipe 32 more readily than the higher
frequency radiations which reflect off the bottom surface of the
ocean 30. The hydrophone 40 is designed with a band-pass
characteristic suitable for receiving the sonic energy at the
frequency F.sub.1, and the preamplifier 126 has a similar band-pass
characteristic for amplifying the signals. The display 118 may
comprise a cathode-ray tube, and the output signal of the
preamplifier 126 appearing on line 128 may be transmitted directly
(not shown in the figures) to the display 118 to be visualized.
Since the frequency F.sub.1 is typically in the audio range, the
display 118 may comprise a set of earphones (not shown) to permit
listening directly to the signals reflected from the driftwood 28
and the pipe 32, the frequency modulation of the signal aiding in
identification thereof. However, at depths normally encountered in
harbors and at greater depths, the signals received at the
difference frequency F.sub.1 may well be excessively small compared
to background noise, this precluding direct displaying of these
signals on the display 118. In these situations, the correlator 120
is utilized and a replica is provided on line 130 from the signal
generator 54 for comparison with the signal on line 128. Typically,
digital correlators are utilized in which case timing pulses on
line 116 are provided for operating the correlator 120. The output
of the correlator 120 is then applied to the display 118.
Referring now to FIG. 4, there is shown an alternative embodiment
of the transducer system 22 of FIG. 2, identified by the legend 22A
in FIG. 4. Amplifiers 132 are provided for coupling the signals on
the lines 42, seen also in FIG. 2, to individual transducer
elements 134 which collectively compose a projector array 136. Each
of the amplifier 132 sums together the signals on the lines 42 such
that the signal on the line A.sub.1 is added to the signal on the
line B.sub.1, the signal on line A.sub.2 is added to the signal
B.sub.2, and similarly with the remaining lines through A.sub.n and
B.sub.n. In this way each of the transducer elements 134 radiate
sonic energy at both of the frequencies F.sub.2 and F.sub.1 +
F.sub.2. The computer 76 provides a set of beam steering commands
different from that provided for the projector array 48 of FIG. 3
since the sonic energy is radiated from a different set of
locations in the case of the projector array 136.
Referring now to FIGS. 5 and 6, thereis seen the directivity
patterns of the sonic energy radiated from the projector array 48
of FIG. 2 in which the main lobe is radiated in a direction normal
to the array in FIG. 5 and at an angle off the axis, or normal, of
the projector array 48 in FIG. 6. The directivity pattern formed by
the solid line identified by the number 138A in FIG. 5 and 138B in
FIG. 6 represents the radiations at the frequency F2, while the
directivity patterns formed by the dashed lines identified by the
legends 140A in FIG. 5 and 140B in FIG. 6 represent the sonic
energy radiated at the frequency F.sub.1 + F.sub.2. Three
directivity patterns have been drawn for the situation wherein the
interelement spacing is greater than a wavelength to accentuate the
side lobes. Of particular interest here is the fact that while the
main lobes overlap in both FIGS. 5 and 6, the side lobes do not
overlap, the directivity patterns differing because of the
differenting wavelengths of the two radiations. The finite
amplitude effect is significantly reduced for side lobes because
their intensity is lower than that of the main lobe. Furthermore,
due to the lack of spatial coincidence of the side lobes at one
frequency versus the side lobes at the other frequency, there is a
still further reduction in the finite amplitude effect produced by
the interaction of acoustic energies radiated by the side lobes.
Accordingly, a directivity pattern (not shown) drawn for the
difference frequency F.sub.1 would show a preponderance of the main
lobe over the side lobes even though the directivity patterns of
the higher frequency acoustic energies which induce the difference
frequency radiation have substantial side lobes. For this reason, a
highly directive beam of the difference frequency radiation can be
readily steered by the system 20 of FIGS. 1 and 2 while retaining
its directivity at steering angles without introducing the familiar
grating lobe pattern associated with phased arrays in both sonar
and radar systems. It is interesting to note, that this discussion
of the finite amplitude effect is equally applicable to the
nonlinear effects produced by radiations in media other than water,
be it a fluid medium such as air or a solid medium.
It is understood that the above-described embodiments of the
invention are illustrative only and that modifications thereof will
occur to those skilled in the art. Accordingly, it is desired that
this invention is not to be limited to the embodiments disclosed
herein but it is to be limited only as defined by the appended
claims.
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