WO1997004334A1

WO1997004334A1 - Integrated sonar and mapping system and associated method

Info

Publication number: WO1997004334A1
Application number: PCT/US1996/011845
Authority: WO
Inventors: Ronald G. Weber; William R. Ruedy; John W. Sprankle, Jr.
Original assignee: Lowrance Electronics, Inc.
Priority date: 1995-07-18
Filing date: 1996-07-17
Publication date: 1997-02-06
Also published as: AU6456796A

Abstract

An integrated sonar and mapping system for providing both sonar and mapping features in a single integrated system includes a controller for processing the returning sonar signals emitted and received by a transducer to generate echo data representative of the objects within the body of the water which reflect the sonar signals. The integrated sonar and mapping system also includes a screen display for displaying a graphical representation of the echo data, such as a visual image of at least some of the objects within the body of water which reflect the sonar signals. The screen display can also display a graphical representation of cartographic data representative of a map such that a visual image of at least a portion of the map is also displayed. The integrated sonar and mapping system can also include a navigational and positioning system, such as a positioning receiver for receiving positioning signals from at least one reference transmitter. Thus, the controller can generate positioning data representative of the position of the integrated sonar and mapping system and, therefore, the boat on which the system is mounted, based upon the positioning signals. Accordingly, the integrated sonar and mapping system can provide a number of distinct features in a single unit, including sonar, mapping and navigational features.

Description

INTEGRATED SONAR AND MAPPING SYSTEM AND ASSOCIATED METHOD

Field of the Invention The present invention relates generally to sonar systems and associated sonar display methods and, more particularly, integrated sonar and mapping systems and associated methods of displaying both cartographic and echo data.

Background of the Invention Boaters and sport fisherman oftentimes refer to maps or charts in order to properly navigate a body of water. Conventionally, these maps have been paper maps which depict the shoreline as well as prominent features on both land and water. For example, the location of buoys or channel markers are typically identified on navigational maps. In addition, some of the more detailed maps can include contour lines or other topographic information indicative of the depth of the water and the slope of the bottom surface of the body of water. Accordingly, by referring to navigational maps, boaters and sport fisherman can determine their approximate location and can plot an appropriate route to their destination.

Although paper maps provide a significant amount of information, successful navigation based upon such maps depends on a boater's recognition of the various shoreline and other land and water based features identified on the map in order to determine the present position of the boat. Even for experienced navigators, therefore, the position of the boat as determined by the boater is an approximation which depends upon the accuracy with which the boater identifies and locates the various features. In addition, paper navigational maps can often prove unwieldy as the boater must often leaf through a number of different maps in order to identify the appropriate map. Once the boater identifies the appropriate map, the boater must then attempt to read the map which may be blowing about in the wind. In addition, the boater must also attempt to keep the paper maps relatively dry so that they can be reused.

In order to provide additional navigational information, a number of mapping and navigation systems have been developed which provide video representations of navigational maps. For example, Lowrance Electronics, Inc. has developed the Global Map™ 1000 marine mapping and navigation system. The Global Map™ 1000 marine mapping and navigation system is described in detail in the installation and operation instructions published by Lowrance Electronics, Inc. and bearing document number 9880134-00, the contents of which are expressly incorporated by reference herein. Marine mapping and navigation systems, such as the Global Map™ 1000 marine mapping and navigation system, include a screen display for providing a graphical representation of a map. Depending upon the database available, the map image displayed may cover a large area with little detail, such as a country, or it may cover a small area with a great amount of detail, such as a harbor channel and individual navigational buoys. In addition, marine mapping and navigation systems can also determine the position of the boat on which the marine mapping and navigation system is mounted and can display an icon designating the relative position of the boat on the screen display concurrently with the graphical representative of a map to identify the relative position of the boat on the map. Marine mapping and navigation systems typically determine the relative position of the boat based upon positioning signals received from one or more land-based beacons, one or more orbiting satellites comprising the Global Positioning System ("GPS") , or other sources. Based upon these positioning signals, the marine mapping and navigation system can determine other navigational data, such as the present latitude and longitude position of the boat and the present compass heading, course over ground, bearing and speed over ground. In addition, marine mapping and navigation systems, such as the Global Map™ 1000 system, allow the operator to enter several event markers to identify specific positions and several waypoints to mark a course which the operator desires to follow. Accordingly, the marine mapping and navigation system can also determine the distance and bearing to the nearest event marker and/or to the nearest waypoint based upon the positioning signals. In addition to referring to maps, such as paper maps or graphically displayed maps, in order to determine navigational information, boaters and sport fishermen commonly employ sonar systems, such as sonar depth finders and sonar fish finders, to provide detailed information regarding the contour of bottom surface of the body of water and objects submerged therein. Sonar systems are based upon sonar systems developed during the World War II era which generated a sonar signal that was transmitted through a body of water and reflected by the bottom surface of the body of water to the sonar system. Based upon the length of time between the generation of the sonar signal and the reception of the reflected signal by the sonar system, these sonar systems could determine the distance to the bottom surface of the body of water.

A number of sonar systems have been developed which display the reflected sonar signals in a variety of manners. For example, some sonar systems include rotating disk lamps or "flashers" which produce a pulse of light upon the reception of a reflected sonar signal. However, flashers do not generally provide historical data representative of the contour of the bottom surface of the body of water. Instead, the pulse of light provides only a momentary indication of the distance to the bottom surface of the body of water. Accordingly, the operator must closely monitor the flasher in order to determine the contour of the bottom surface of the body of water. In addition, sonar signals reflected by submerged objects, such as fish, are typically difficult to identify by the pulses of light provided by flashers since the pulses of light provide only a momentary indication of the distance to the submerged object from which the sonar signals are reflected.

In order to provide historical data indicative of the contour of the bottom surface of the body of water as well as the relative location of submerged objects, such as fish, sonar systems were developed which included a chart recorder. These sonar systems generate a strip chart on which markings indicate the contour of the bottom surface of the body of water as determined from the reflected sonar signals. While sonar systems incorporating chart recorders provide a permanent record of the contour of the bottom surface of the body of water, the strip charts produced by these sonar systems can be relatively difficult to interpret.

For example, the strip charts typically include a wide area or band of markings to indicate the relative location of the bottom surface of the body of water. However, thermoclines within the body of water or multiple reflections of the sonar signals, such as due to spurious reflections of the sonar signals from the bottom surface of the boat, can create additional reflections which, if received by the sonar system, will create additional lines or bands on the strip chart. In addition, the operator of a sonar system having a chart recorder may change the scale to which the strip chart is drawn in order to more clearly depict the bottom surface of a body of water. However, the strip chart generated prior to the change in scale will remain drawn to the previous, albeit different, scale. Thus, the operator of the sonar system may find it difficult to read and compare markings on the strip chart, particularly in the region in which the scale of the strip chart was changed.

Accordingly, sonar systems having associated display devices have been developed to provide a historical graphical display of the bottom surface of the body of water over which the boat is passing as well as to identify submerged objects from which the sonar signals reflect. The associated display devices typically include cathode ray tubes, electroluminescent panels, liquid crystal displays and LED displays.

These sonar systems also generally include advanced electrical circuitry, including one or more microprocessors or microcontrollers, to provide a number of features which allow the operator to customize the resulting display.

Notwithstanding the variety of features offered by both sonar systems and marine mapping and navigation systems, operators must still purchase, install, operate and repeatedly refer to two or more separate systems in order to obtain sonar information and mapping or navigational data. In addition to the increased cost of purchasing and the increased space required to install these two different systems, operators must learn how to configure and operate each of the systems in order to appropriately utilize the various features provided. Thus, an otherwise enjoyable boating or fishing excursion can quickly become a laborious task in which a large amount of the boater's time is consumed configuring, operating, monitoring and trying to coordinate and interpolate the sonar system and the separate mapping and navigational system.

Summary of the Invention It is therefore an object of the present invention to provide an integrated sonar and mapping system and an associated method for providing both sonar and mapping operations.

It is another object of the present invention to provide an integrated sonar and mapping system which includes a screen display capable of displaying graphical representations of both a map and a sonar display such that an operator need only refer to the single screen display for both mapping and sonar information.

It is a further object of the present invention to provide an integrated sonar, mapping and navigational system and an associated method for providing not only sonar and mapping information, but also navigational information in a single system.

These and other objects are provided, according to the present invention, by an integrated sonar and mapping system which provides both sonar and mapping information to an operator in a single system. The integrated sonar and mapping system includes at least one transducer and a cartographic storage means, such as a memory device, for storing cartographic data representative of a map. The at least one transducer emits sonar signals through a body of water and receives returning sonar signals reflected by objects within the body of water. The integrated sonar and mapping system also includes a controller for processing the returning sonar signals to generate echo data representative of the objects within the body of water which reflect the sonar signals. In addition, the integrated sonar and mapping system includes a screen display for displaying a graphical representation of the echo data such that the operator is provided with a visual image of at least some of the objects within the body of water which reflect the sonar signals. Further, the screen display of the integrated sonar and mapping system is capable of displaying a graphical representation of cartographic data which is representative of at least a portion of a map. Thus, by viewing the screen display, the operator can determine both sonar and mapping information.

In one embodiment, the screen display is capable of concurrently displaying graphical representations of the cartographic data and the echo data. Thus, the integrated sonar and mapping system can simultaneously provide visual images of both the map and objects within the body of water which reflect the sonar signals such that the operator need only refer to a single screen display.

In one embodiment, the cartographic storage means includes first storage means for storing cartographic data representative of a background map and second storage means for storing cartographic data representative of a detailed map. The detailed map typically has a greater resolution than the background map. Accordingly, graphical representations of maps having various degrees of resolution can be provided by the integrated sonar and mapping system to thereby provide the operator with different levels of detail.

According to one advantageous embodiment, the integrated sonar and mapping system also provides navigational or positioning information to thereby provide an integrated sonar, mapping and navigational system. The integrated sonar, mapping and navigational system of this embodiment includes a positioning receiver for receiving positioning signals from at least one reference transmitter, such as one or more GPS satellites or land-based beacons or other navigational sources. According to this embodiment, the controller is operably connected to the positioning receiver for generating positioning data representative of a position, typically the position of the integrated sonar, mapping and navigational system, based upon the positioning signals.

The screen display of this embodiment can display a graphical representation of the positioning data to provide the operator with a visual image of the relative position of the integrated sonar, mapping and navigational system. In one advantageous embodiment, the screen display is capable of concurrently displaying graphical representations of the cartographic data and the positioning data such that the operator can determine the position of the integrated sonar, mapping and navigational system relative to the map. According to the present invention, the integrated sonar and mapping system can provide both sonar and mapping information to the operator in a single system. Thus, the operator need refer only to a single screen display in order to obtain visual images of the terrain above the surface of the water from a map display and of the terrain below the surface of the water from a sonar display. Furthermore, the operator need only purchase and learn how to operate a single system in order to obtain both sonar and mapping information. According to one advantageous embodiment of the present invention, the integrated sonar, mapping and navigational system provides not only sonar and mapping information, but also navigational or positioning information. Thus, the versatility and flexibility of the integrated sonar, mapping and navigational system is significantly enhanced due to the incorporation of the sonar, mapping and navigational features into a single system.

Brief Description of the Drawings Figure 1 is a block diagram of the components of an integrated sonar and mapping system according to one embodiment of the present invention which illustrates an exemplary graphical representation provided by the screen display of the integrated sonar and mapping system. Figure 2 is a perspective view of a screen display of an integrated sonar and mapping system according to one embodiment of the present invention.

Figure 3 is a flow chart illustrating the general operations performed by the integrated sonar and mapping system according to one embodiment of the present invention.

Figure 4 is a flow chart illustrating different processes performed by the integrated sonar and mapping system of one embodiment of the present invention, including a keyboard process, a display process, a positioning/navigation process, a mapping process and an sonar process.

Figures 5A-5I are flow charts illustrating the detailed operations performed by the integrated sonar and mapping system according to one embodiment of the present invention during the keyboard process.

Figures 6A-6F are flow charts illustrating the detailed operations performed by the integrated sonar and mapping system according to one embodiment of the present invention during the display process.

Figure 7 is a flow chart illustrating the detailed operations performed by the integrated sonar and mapping system according to one embodiment of the present invention during the positioning and navigation process. Figure 8 is a flow chart illustrating the detailed operations performed by the integrated sonar and mapping system according to one embodiment of the present invention during the mapping process . Figure 9 is a flow chart illustrating the detailed operations performed by the integrated sonar and mapping system according to one embodiment of the present invention during the sonar process.

Figures 10A-10M illustrate display screens which are presented to an operator during operation of an integrated sonar mapping system according to one embodiment of the present invention.

Detailed Description of the Preferred Embodiments The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which a preferred embodiment of the invention is shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, this embodiment is provided so that this disclosure will be thorough and complete and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout . Referring now to Figure 1, a block diagram of the integrated sonar and mapping system 10 according to one embodiment of the present invention is shown. As illustrated in Figure 1 and block 32 of Figure 3, the integrated sonar and mapping system includes at least one transducer 12 for emitting sonar signals toward the bottom surface of a body of water. While the illustrated embodiment of the integrated sonar and mapping system includes only a single transducer, the integrated sonar and mapping system can include a plurality of transducers, each of which emits sonar signals, without departing from the spirit and scope of -li¬ the present invention. In addition, the integrated sonar and mapping system can include a variety of types and configurations of transducers, including a plurality of transducers which are alternately driven or a phased array of transducers. As known to those skilled in the art, two or more transducers of a phased array of transducers are simultaneously driven in order to appropriately map the contour of the bottom surface of the body of water and to identify objects submerged therein, such as fish and underwater structures. Other alternative embodiments include transducers operating at different frequencies or producing different beam patterns.

As also known to those skilled in the art, sonar transducers 12 not only emit sonar signals into a body of water, but also initially receive the returning sonar signals which have been reflected by objects in the body of water as shown in block 34 of Figure 3. The objects which reflect the sonar signals can include the bottom surface of the body of water and other submerged objects. Although the transducers initially receive the sonar signals, the integrated sonar and mapping system 10 can also include a receiver 14 to process the returning sonar signals initially received by the transducers. For example, the receiver can filter and amplify the signals and can convert the signals from analog to digital .

In addition, embodiments of the integrated sonar and mapping system 10 of the present invention which include the plurality of transducers 12 can include receiver means for receiving and processing the returning sonar signals which are initially received by the transducers. As described in co-pending U.S. Patent Application entitled "Sonar System Having An Interactive Sonar Viewing Apparatus And Method Of

Configuring Same" filed July 14, 1995, the contents of which are expressly incorporated by reference herein, the receiver means can include a receiver 14 as described above and multiplexing means, such as a multiplexer, operably connected between the plurality of transducers and the receiver. The multiplexing means selects the returning sonar signals which were initially received by at least one of the transducers for receipt by the receiver. Accordingly, the integrated sonar and mapping system can have a common or universal receiver for effectively receiving the returning sonar signals originally emitted by each of a plurality of transducers.

As illustrated in Figure 1, the integrated sonar and mapping system 10 also includes a controller 16. For example, the controller can include one or more microprocessors or microcontrollers which are operably connected or networked for coordinated operation. The controller is also operably connected to the receiver 14 for further processing the returning sonar signals. In particular, the controller generates echo data representative of the objects within the body of water which reflect the sonar signals as shown generally in block 36 of Figure 3.

As shown in Figure 1, the controller 16 typically controls the operation of the transducer 12 by driving the transducer via an associated power amplifier 18. Thus, the controller can provide an activation signal to the power amplifier associated with the selected transducer. The power amplifier, in turn, amplifies the signal provided by the controller and provides the amplified signal to the associated transducer, thereby driving the associated transducer to emit sonar signals into the body of water. However, the integrated sonar and mapping system 10 need not include a power amplifier, but can, instead, employ the controller to directly drive the transducer without departing from the spirit and scope of the present invention. According to the present invention, the integrated sonar and mapping system 10 also includes a screen display 20, responsive to the controller 16, for providing a graphical representation of the echo data generated by the controller as shown in Figures 1 and 2. As described above, the echo data is representative of the objects within the body of water which reflect the sonar signals. Thus, the screen display can provide a visual image of the contour of the bottom surface of the body of water as well as the relative locations of submerged objects, such as fish, for example. While a two-dimensional graphical representation of the echo data is illustrated herein, the integrated sonar and mapping system and, more particularly, the screen display can provide the echo data in a variety of other formats, including a three- dimensional graphical representation, without departing from the spirit and scope of the present invention.

As further illustrated in Figure 1 and block 30 of Figure 3, the integrated sonar and mapping system 10 preferably includes cartographic storage means for storing cartographic data representative of a map. The cartographic storage means can include a memory device 22, such as read only memory (ROM) or random access memory (RAM) , in which the cartographic data is stored, such as in a cartographic data file. The memory device in which the cartographic data is stored can be either external to the controller 16, as shown in Figure 1, or internal to the controller without departing from the spirit and scope of the present invention. In addition, as will be apparent to those skilled in the art, the cartographic data can be stored in a variety of forms, including various vector representations of the cartographic data. In one embodiment of the integrated sonar and mapping system 10 of the present invention, the cartographic storage means includes both a first storage means for storing cartographic data representative of a background map, such as in a background map data file 22a, and second storage means for storing cartographic data of a detailed map, such as in a detailed map data file 22b. Typically, the cartographic data representative of the detailed map has greater resolution than the cartographic data representative of the background map.

While both the background map data file 22a and the detailed map data file 22b are illustratively shown as residing within the same memory device 22 in Figure 1, the background map data file and the detailed map data file can be stored in different memory devices without departing from the spirit and scope of the present invention. For example, the background map data file can be stored in a memory device, such as a mask ROM, within the integrated sonar and mapping system 10. In contrast, the detailed map data file can be stored on one or more external memory cartridges, such as C-MAP™ or Inland Mapping System cartridges or modules, which are operably connected to the integrated sonar and mapping system either serially or in parallel. For example, the external memory cartridges can be connected to the integrated sonar and mapping system either directly or indirectly, such as via a universal asynchronous receiver and transmitter (UART) or a synchronous LAN connection. Accordingly, detailed map data files representative of different portions of the background map can be stored in one or more external memory cartridges and can be operably connected to the integrated sonar and mapping system in order to provide further detail of geographical regions of particular interest to the operator.

According to this embodiment, the controller 16 of the integrated sonar and mapping system 10 is operably connected to the cartographic storage means for accessing at least a portion of the cartographic data stored therein. Further, the screen display 20 of this embodiment is capable of displaying a graphical representation of the cartographic data such that a visual image of at least a portion of the map is thereby displayed. In one advantageous embodiment, the screen display is capable of concurrently displaying graphical representations of the cartographic data and the echo data as shown in block 38 of Figure 3. Thus, visual images of both the map and the objects within the body of water which reflect the sonar signals can be simultaneously displayed for the operator by the integrated sonar and mapping system of the present invention.

In addition to providing visual images of a map and a sonar display, the integrated sonar and mapping system 10 of one advantageous embodiment also provides navigational or positioning information, such as geographical coordinates of a present position, thereby creating an integrated sonar, mapping and navigational system. In this embodiment, the integrated sonar and mapping system includes a positioning receiver 24 for receiving positioning signals from at least one reference transmitter. As known to those skilled in the art, the type of positioning receiver depends upon the type of reference transmitter emitting the positioning signals which are to be received. For example, in one embodiment, the reference transmitters are a plurality of land-based beacon transmitters. Accordingly, the positioning receiver of this embodiment typically includes a Loran- C or Decca receiver. Alternatively, the reference transmitters can include the GPS satellites which provide extremely accurate positioning signals. Thus, in this embodiment, the positioning receiver generally includes a GPS-type receiver or antenna for receiving the positioning signals from the GPS satellites. Regardless of the origin of the positioning signals, the controller 16 of this embodiment is operably connected to the positioning receiver 24 for generating positioning data representative of a reference position based upon the positioning signals. Typically, the reference position is the position of the integrated sonar, mapping and navigational system 10 and, since the integrated sonar, mapping and navigational system is typically mounted in a boat or other vessel, the reference position is generally the position of the boat on which the system is mounted.

According to this embodiment, the screen display 20 of the integrated sonar, mapping and navigational system 10 is capable of displaying a visual representation of the positioning data generated by the controller 16. The graphical representation of the positioning data can include textual or numerical information relating to the position of the system, such as the latitude and longitude of the boat, compass heading, bearing, course over ground and speed over ground. In addition, if a route has been entered or one or more waypoints have been set by the operator, the integrated sonar, mapping and navigational system can provide additional navigational data, such as a bearing, time and distance to go to the next waypoint. In addition to the textual and numerical information, the screen display 20 can provide a graphical representation of the position of the integrated sonar, mapping and navigational system 10. For example, a cursor or other reference icon can be displayed to indicate the relative position of the boat. In particular, the screen display of this embodiment is preferably capable of concurrently displaying graphical representations of the cartographic data and the positioning data. For example, the cursor or other reference icon which identifies the position of the boat can be displayed at the same time as the map, and properly positioned so as to indicate the position of the boat relative to the map. In one embodiment, the cartographic data is associated with geographical coordinates, such as the respective latitude and longitudinal position of the map, such that the cursor or other reference icon indicative of the position of the boat can be properly positioned relative to the geographical coordinates of the map which is concurrently displayed. Still further, as shown in Figures 1 and 2, the screen display is preferably capable of concurrently displaying graphical representations of the echo data, the cartographic data and the positioning data such that the operator can quickly analyze the output of each of the sonar, mapping and navigational features provided by the single system of the present invention.

In operation, the integrated sonar and mapping system 10 performs a number of different processes in order to provide each of the features or functions described above. Accordingly, the integrated sonar and mapping system can be multi-tasking so as to simultaneously perform several of the different processes. Alternatively, the integrated sonar and mapping system and, more particularly, the controller 16 can include a scheduler 40 or a scheduling routine which cyclically allots time to each of the processes as shown in Figure 4.

For example, in the embodiment illustrated in Figure 4, the scheduler 40 can initially determine if a key is depressed as shown in block 42. If a key is not depressed or following completion of the keyboard process 44, if a key has been depressed, the scheduler can determine if there is an active display request as shown in block 46. If there is not an active display request or following completion the display process 48, if there has been an active display request, the scheduler can determine if the position of the system 10 needs to be updated as shown in block 50. If the position need not be updated or following completion of the positioning/navigation process 52, if the position does need to be updated, the scheduler can determine if a map request is pending as shown in block 54. If a map request is not pending or following completion of the mapping process 56, if a map request was pending, the scheduler can determine if a sonar request is pending as shown in block 58. If a sonar request is not pending or following completion of the sonar process 60, if a sonar request was pending, the scheduler can repeat the above-described sequence of operations by again determining if a key has been depressed as shown in block 42. While a particular sequence of operations has been illustrated and described herein with regards to the cyclic allocation of time to each of the processes, it should be apparent that the order in which the processes are performed can be arranged in a number of different sequences without departing from the spirit and scope of the present invention.

In order to further explain the present invention, the operations performed by each of the processes illustrated in Figure 4 will be described hereinafter in detail. As will be apparent, the operations illustrated generally in Figure 4 and described hereinafter are directed to an integrated sonar, mapping and navigational system 10 and typically continue so long as power is supplied to the system. In the embodiments of the present invention which do not include a navigational or positioning system, the positioning/navigation process is inactive and unnecessary. In addition, each process can be performed in a variety of different manners without departing from the spirit and scope of the present inventions since the specific steps and the order in which the steps are arranged are solely for purposes of illustration. In addition, although the steps are oftentimes illustratively described in different blocks, it will be apparent to those skilled in the art that the steps may be performed in another order or simultaneously without departing from the spirit and scope of the present invention.

As shown in block 62 of Figure 5A, the keyboard process 44 initially determines if the man overboard key has been depressed. If the man overboard key has been depressed, the display is appropriately configured and the boat is automatically navigated toward the position that the boat was in at the time the man overboard key was initially depressed as shown in block 64. If the man overboard key has not been depressed, the integrated sonar and mapping system 10 determines if a screen key has been depressed as shown in block 66.

As illustrated in Figures 1 and 2, the integrated sonar and mapping system 10 can also include a keyboard or keypad 26. As shown in Figure 2, the keypad of one embodiment of the present invention includes a number of feature keys 26a illustratively positioned along the left-hand side of the screen display 20 and a number of screen keys 26b positioned below the screen display. As shown in Figure 2, an appropriate legend or designation is typically provided adjacent each respective key to indicate the function or feature provided by the associated key. For example, the screen keys are designated the map key, the nav key, the steer key or the sonar key. In addition, a numeric keypad 26c and arrow keys 26d are generally provided on the right-hand side of the screen display as also shown in Figure 2.

Accordingly, if a screen key 26b has not been depressed, the integrated sonar and mapping system 10 determines which screen is presently displayed since the functions of the remaining keys, i.e., the function keys 26a, the numeric keypad 26c and the arrow keys 26d, are dependent upon the type of screen presently displayed. In particular, the integrated sonar and mapping system determines if a menu screen, a mapping screen, a navigation screen, a steering screen or a sonar screen is currently displayed, as shown in blocks 68-76.

If a menu screen, such as that illustrated in Figure 10F, is currently displayed, the integrated sonar and mapping system 10 determines if a function key 26a has been depressed as shown in block 86 of Figure 5B. If a function key has been depressed, the integrated sonar and mapping system performs the requested function as shown in block 88. For example, each function key can be associated with a respective menu selection such that by depressing a function key, the associated menu item is selected.

In particular, the operator can selectively configure the mapping screen, the navigation screen or the steering screen which is to be displayed as described in detail and illustrated hereinafter. For example, the operator can select the specific types of navigational or steering information which will be provided by the mapping, navigational or steering screens. In addition, the operator can elect to graphically provide a sonar display in conjunction with the navigational or steering information depicted by the mapping, navigational or steering screens.

However, if a numeric key 26c or a arrow key 26d is depressed instead of a function key while a menu screen is displayed, the integrated sonar and mapping system determines if the depression of the numeric or arrow key was appropriate as shown in blocks 90-96. If the depression of the numeric key or the arrow key is appropriate, the numeric entry is processed as shown in block 98 or the function requested by depressing the arrow key is performed as shown in block 100. If the depression of a numeric key or an arrow key is inappropriate based upon the currently displayed screen, however, an error has occurred. The operator can be provided with an error indication, such as an audible tone or a textual message. Alternatively, the operator can be prompted to make an additional selection or the integrated sonar and mapping system can merely continue to display the same display screen, notwithstanding the error. If the currently displayed screen is a mapping screen, such as illustrated in Figure 10A, the integrated sonar and mapping system 10 determines if a function key 26a has been depressed as shown in block 102. If a function key has been depressed, the appropriate function is performed as shown in block 104. For example, the functions can include zoom, center and cursor selection. These functions control the detail or resolution with which the map is displayed, the position about which the map is centered and whether the cursor is displayed, respectively.

Additional function keys allow the operator to select waypoints, routes and menus so as to customize the operation of the integrated sonar and mapping system. Alternatively, if an arrow key 26d is depressed, instead of a function key 26a, the integrated sonar and mapping system 10 pans the graphical representation of the map in the direction indicated by the depressed arrow as shown in blocks 106 and 108. As also shown in blocks 110 and 112 of Figure 5C, the operator has committed an error if a numeric key 26c has been depressed while a mapping screen is currently displayed.

As illustrated in block 114 of Figure 5D, if the currently displayed screen is a navigation screen, such as Figure 10G, or a steering screen, such as

Figures 10L and 10M, the integrated sonar, mapping and navigation system 10 initially determines if a function key 26a has been depressed. If a function key has been depressed, the integrated sonar, mapping and navigational system determines if the waypoint, route or menu keys have been depressed and, if so, performs the function requested by the depressed waypoint, route or menu key as shown in blocks 116 and 118. If another type of function key has been depressed, however, an appropriate error indication can be provided as shown in block 120. Likewise, if an arrow key or a numeric key has been depressed, an appropriate error indication can be provided as shown in blocks 120, 122 and 124.

Finally, if a sonar display is currently provided, such as shown in Figure 10B, the integrated sonar and mapping system 10 initially determines if a function key 26a has been depressed. If a function key has been depressed, the requested function is performed as described above and as shown in blocks 126 and 128. If a function key has not been depressed, the integrated sonar and mapping system determines if either the up or down arrow keys have been depressed and, if so, adjusts the sonar range accordingly as shown in blocks 130 and 132. Alternatively, if the left or right arrow keys have been depressed, the sonar sensitivity is appropriately adjusted as shown in blocks 134 and 136. Further, if a numeric key 26c is depressed while a sonar screen is displayed, an appropriate error indication can be provided as shown in blocks 138 and 140.

If a screen key 26b is depressed during the keyboard process 44, however, the integrated sonar and mapping system 10 initially determines which screen key has been depressed. In other words, the integrated sonar and mapping system determines if the map key, the navigation key, the steering key or the sonar key has been depressed as shown in blocks 78-84 of Figure 5A. If the map key has been depressed, the controller 16 initially determines if a mapping screen is currently displayed as shown in block 142 of Figure 5F. If a mapping screen is not currently displayed, the most recently displayed type of mapping screen is selected for display as shown in block 144. As explained hereinafter in conjunction with the display process 48, the selected type of mapping screen can thereafter be displayed by the screen display 20 of the integrated sonar and mapping system 10. However, if a mapping screen is currently displayed, the controller determines which type of mapping screen is currently displayed, that is, the controller determines whether a full mapping screen as shown in Figure 10A, a split mapping and navigation screen as shown in Figures IOC and 10E or a split mapping and sonar screen as shown in Figure 10D is currently displayed, as shown in blocks 146, 150 and 154, respectively. Depending upon the type of map currently being displayed, another predefined type of map can be selected for display as shown in blocks 148, 152 and 156. Accordingly, the operator can step through each of the different types of mapping screens in order to select the desired type of mapping screen for subsequent display.

In addition, Figures 10C and 10E depict two different types of split mapping/navigation screens which can be selected for display. As described above, the operator can customize the resulting display such that different types or combinations of information can be provided. Thus, in the display screen of Figure 10C, the operator has elected to provide a number of different types of navigational or positioning information on the right side of the screen display 20, while the operator has elected to provide a combination of navigational or positioning information and a sonar display on the right side of the display screen of Figure 10E. The specific type of split mapping/navigation screen which is selected for display is therefore based upon the type of split mapping/navigation screen which has been developed by the operator. If the operator does not elect to customize the display screens, including the split mapping/navigation screen, the integrated sonar and mapping system 10 is preferably provided with a standard set of display screens which will be provided in the absence of operator customization. In addition, although specific types of navigational or positioning information is depicted in the display screens of Figures IOC and 10E, different types of navigational or positioning information can be provided without departing from the spirit and scope of the present invention.

Likewise, if the navigation key is depressed, the controller 16 determines if a navigation screen is currently displayed as shown in block 158. If a navigation screen is not currently displayed, the controller selects the most recently displayed type of navigation screen for display as shown in block 160. However, as shown in blocks 162 and 166, if a navigation screen is currently displayed, the controller determines if the type of navigation screen currently displayed is either the first or second type of navigation screen. As illustrated in blocks 164 and 168 of Figure 5G, the controller then selects the type of navigation screen which is not currently displayed for subsequent display. Accordingly, the operator can toggle between the first and second types of navigation screens . One configuration of the first and second types of navigation screens is shown in Figures 10G and 10H, respectively. However, as described above in conjunction with the mapping screens, the operator can customize each of the navigation screens so as display the different types of navigational and sonar information. For example, the first type of navigation screen can include a number of navigational parameters which are textually and numerically depicted as shown in Figure 10G, while the second type of navigation screen can include a number of navigational parameters which are textually and graphically illustrated as well as a sonar display as shown in Figure 10H. However, the first and second types of navigational screens can be customized in other manners so as to include other types of navigational and/or sonar information without departing from the spirit and scope of the present invention.

In a similar fashion to that described above in conjunction with the selection of the navigation key, if the steering key is depressed, the controller 16 initially determines if a screening screen is currently displayed as shown in block 170. If a steering screen is not currently displayed, the controller selects the most recently displayed type of steering screen for subsequent display or shown in block 172 of Figure 5H. However, as shown in blocks 174 and 178, if a steering screen is currently displayed, the controller determines if the type of steering screen currently displayed is either the first or second type of steering screen. As illustrated in blocks 176 and 180 of Figure 5H, the controller then selects the type of steering screen which is not currently displayed for subsequent display. Accordingly, the operator can toggle between the first and second types of steering screens.

One configuration of the first and second types of steering screens is shown in Figures 10L and

10M, respectively. However, as described above in conjunction with the mapping and navigational screens, the operator can customize each of the steering screens so as display the different types of steering and sonar information. For example, the first type of steering screen can include a number of steering parameters which are graphically and numerically depicted as shown in Figure IOL, while the second type of steering screen can include a number of steering parameters which are graphically and numerically illustrated as well as a sonar display as shown in Figure 10M. However, the first and second types of steering screens can be customized in other manners so as to include other types of steering and/or sonar information without departing from the spirit and scope of the present invention. Finally, if the sonar key is depressed, the controller 16 determines if the currently displayed screen is a sonar screen as shown in block 182 of Figure 51. If the currently displayed screen is not a sonar screen, the controller selects the most recently displayed type of sonar screen for subsequent display as shown in block 184. However, if the current screen is a sonar screen, the controller determines the type of sonar screen currently displayed. As depicted in blocks 186 and 188, if the currently displayed sonar screen is a full sonar display screen as shown in

Figure 10B, a split zoom sonar display screen as shown in Figure 10J is selected for subsequent display. Alternatively, as depicted in blocks 190 and 192, if the currently displayed sonar screen is a split zoom sonar display screen as shown in Figure 10J, a split sonar and navigational display screen as shown in Figure 10K is selected for future display. Finally, as depicted in blocks 194 and 196, if the currently displayed sonar screen is a split sonar and navigational display screen as shown in Figure 10K, a full sonar display screen as shown in Figure 10B is selected for future display. Thus, the operator can toggle between the various types of sonar displays available for display. Accordingly, the operator can select the appropriate type of sonar display to provide the desired sonar information in the preferred format. In addition to accepting input from the keyboard 26, the integrated sonar and mapping system 10 drives the screen display 20 with the display process 48 to thereby display the appropriate graphical representations. As shown in the display process illustrated in Figure 6A, the controller 16 initially determines the type of display screen currently displayed. In other words, the controller initially determines whether a menu screen, a mapping screen, a navigational screen, a steering screen or a sonar screen is currently selected as shown in blocks 200- 208, respectively. A new type of screen can then be selected by the operator as described hereinabove or, if no selection has been made since the most recent screen has been displayed, the same type of screen is again selected and the information provided thereby can be updated based on the current positioning and sonar information.

If a menu screen is currently selected for display, the controller 16 determines is a sonar menu is currently selected, as shown in block 210 of Figure 6B. As illustrated in block 212, if a sonar menu screen is currently selected, a half-width sonar display is provided on the right-hand portion of the screen display 20 while predetermined graphical and/or textual information relating to various parameters of the integrated sonar and mapping system 10 is provided on the left-hand portion of the screen display as shown in Figure 101. Alternatively, as shown in block 214, if a sonar menu screen is not selected, a graphical and/or textual message illustrating the various system parameters is preferably displayed as shown in Figure 10F.

If a mapping screen, instead of a menu screen, is currently selected, however, the controller 16 initially determines the type of mapping screen currently selected as shown in blocks 216, 220 and 224 of Figure 6C. If a split mapping/navigational screen is currently selected, the controller displays navigational data on the right side of the screen display 20 and a graphical representation of a map on the left side of the screen display as shown in blocks 218 and 228. As described above and as shown in Figures IOC and 10E, the operator can customize or select the types and arrangment of the navigational data to be displayed in the split mapping/navigational screen and can include a sonar display if desired. If, however, a split mapping and sonar screen is currently selected, a sonar chart is displayed on the right side of the screen display while a graphical representation of a map is displayed on the left side of the screen display as shown in blocks 222 and 228 and in Figure 10D. Finally, if a full mapping display screen is currently selected, a graphical representation of a map is displayed on the full width of the screen display as shown in block 226 and in Figure 10A. If a navigational screen is currently selected, navigational data relating to the present position of the boat is displayed in the upper half of the screen display 20 as shown in block 228 of Figure 6D. Additional textual and graphical information is also provided in the lower half of the screen display based upon the type of navigational screen currently selected and the specific configuration of the navigational screens provided by the operator, as shown in blocks 230, 232 and 234. In particular, additional textual and graphical information relating to the position of the boat is displayed in the lower half of the screen display of the exemplary first type of navigational screen shown in Figure 10G. In addition, a sonar chart, in addition to the textual and graphical information relating to the position of the boat, is displayed in the lower half of the screen display of the exemplary second type of navigational screen shown in Figure 10H. However, the configuration of the navigational screens, including the types and arrangement of the information provided, can vary based upon operator customization of the navigational screens as described above.

Similarly, if a steering screen is currently selected, graphical data indicative of the position of the boat relative to the route and to the waypoints is displayed in lower half of the screen display as shown in block 236 of Figure 6E. Additional textual and graphical information is also provided in the upper half of the screen display based upon the type of steering screen currently selected, as shown in blocks 238, 240, and 242. In particular, additional textual and graphical steering information is displayed in the upper half of the screen display of the exemplary first type of steering chart shown in Figure IOL. In addition, a sonar chart, as well as the textual and graphical steering information, is displayed on the upper half of the screen display of the exemplary second type of steering chart shown in Figure 10M. However, the configuration of the steering screens, including the types and arrangement of the information provided, can vary based upon operator customization of the steering screens as described above.

Alternatively, if a sonar display screen is currently selected, the controller 16 determines which type of sonar display screen is currently selected, as shown in blocks 244, 246 and 248. If a full sonar screen display is currently selected, a full width sonar chart is displayed on the screen display 20 as shown in block 250 and in Figure 10B. Alternatively, if a split zoomed sonar display screen is currently selected, a half width non-zoomed sonar chart is displayed on the right side of the screen display and a half width zoomed sonar display is provided on the left side of the screen display as shown in blocks 252 and 254 and in Figure 10J. Similarly, if a split sonar and navigational screen is currently selected, a half width sonar display screen is displayed on the left side of the screen display while appropriate textual and graphical navigational data is displayed on the right side of the display screen as shown in blocks 256 and 258.

As will be apparent to those skilled in the art, if a type of display different from that currently displayed has not been selected, the integrated sonar and mapping system 10 continues to provide the same type of display as that currently displayed, although the navigational and positioning information, the map and the sonar display can be updated or revised as necessary. In addition, although specific types of displays are described and illustrated herein, the types of displays are only for purposes of illustration and can be varied in order to provide additional detail or further information without departing from the spirit and scope of the present invention. Further, although specific key sequences are described herein to configure and operate the integrated sonar and mapping system, other predetermined key sequences can be defined or other selection devices, such as track balls or light pens, can be employed without departing from the spirit and scope of the present invention.

During the positioning and navigational process 52, the integrated sonar, mapping and navigational system 10 obtains the positioning signals, as shown in block 260 of Figure 7, with a positioning receiver 24 which is operably connected to the controller 16. The positioning signals are then converted to predetermined types of navigational data, such as latitude and longitude and speed and course over ground as described above and as shown in block 262. In addition, the integrated sonar, mapping and navigational system determines if the operator is navigating to a predefined waypoint. If the operator is navigating to a predefined waypoint, the navigational data relating to the waypoint, such as bearing to waypoint and the distance and time to go to the waypoint, is updated based upon the current position of the boat as shown in blocks 264 and 266.

As shown in block 270 of Figure 8, the mapping process 56 initially determines the current position of the boat as determined by the above- described navigational process and the currently selected zoom scale. Based upon the current position of the boat and the currently selected zoom scale and as illustrated in block 272, the controller 16 determines the appropriate cartographic data required to fill the portion or window of the screen display 20 allocated to a graphical representation of a map at the currently selected zoom scale or resolution level . Thereafter, the controller accesses the appropriate portions of the cartographic data as shown in block 274. As described above, the controller can access cartographic data in either an internal or an external memory device. For example, cartographic data from the background map data file 22a may be appropriate to provide a graphical representation which has a relatively low zoom scale, while cartographic data from the detailed map data file 22b may be appropriate to provide a graphical representation which has a relatively high zoom scale. Based upon the cartographic data, the controller creates a graphical representation of the map for subsequent display as shown in block 276. The graphical representation is typically stored in a buffer for subsequent display on the screen display 20 during the above-described display process 48. By creating the graphical representation of the map prior to the actual display of the map, the integrated sonar, mapping and navigational system can responsively provide graphical representations of the desired maps in a timely fashion.

Finally, the sonar process 60 which was described above in conjunction with the various components of the integrated sonar and mapping system 10 is illustrated in Figure 9. In particular, the controller 16 initially signals the power amplifier 18 to drive the associated transducer 12 to emit sonar signals into the body of water as shown in block 280. Thereafter, the returning sonar signals are received and processed into a sonar chart for subsequent display as shown in blocks 282 and 284.

According to the present invention, the integrated sonar and mapping system 10 can provide both sonar and mapping features to the operator within a single unit. Thus, the operator need refer only to a single screen display 20 in order to obtain visual images of at least a portion of a map and of a sonar display. In addition, the operator need only purchase and learn to operate a single system in order to obtain both sonar and mapping features. According to a further embodiment, the integrated sonar, mapping and navigational system provides not only sonar and mapping features, but also navigational features, including a determination of the position of the system. Thus, the operator can determine information regarding features not only above the water, via the mapping and navigational features of the system, but also below the water, via the sonar features. Thus, the versatility and flexibility of the integrated sonar and mapping system of the present invention is significantly enhanced. In addition, the incorporation of the sonar, mapping and navigational features into a single system eliminates the portions of the separate systems which are duplicative or redundant, such as multiple key pads 26 and multiple screen displays. In the drawings and the specification, there has been set forth preferred embodiments of the invention and, although specific terms are employed, the terms are used in a generic and descriptive sense only and not for purpose of limitation, the scope of the invention being set forth in the following claims.

Claims

THAT WHICH IS CLAIMED IS:

1. An integrated sonar and mapping system comprising: at least one transducer for emitting sonar signals through a body of water and for receiving returning sonar signals reflected by objects within the body of water; cartographic storage means for storing cartographic data representative of a map; a controller, operably connected to said at least one transducer, for processing the returning sonar signals to generate echo data representative of the objects within the body of water which reflect the sonar signals, said controller also being operably connected to said cartographic storage means for accessing at least a portion of the cartographic data stored therein; and a screen display, responsive to said controller, for displaying a graphical representation of the cartographic data such that a visual image of at least a portion of the map is thereby displayed, said screen display being further capable of displaying a graphical representation of the echo data such that a visual image of at least some of the objects within the body of water which reflect the sonar signals is displayed by the integrated sonar and mapping system.

2. An integrated sonar and mapping system according to Claim 1 further comprising a positioning receiver for receiving positioning signals from at least one reference transmitter, and wherein said controller is operably connected to said positioning receiver for generating positioning data based upon the positioning signals.

3. An integrated sonar and mapping system according to Claim 2 wherein said screen display is capable of displaying a visual representation of the positioning data generated by the controller and indicative of the position of the integrated sonar and mapping system.

4. An integrated sonar and mapping system according to Claim 3 wherein said screen display is further capable of concurrently displaying graphical representations of the cartographic data and the positioning data such that the operator can determine the relative position of the integrated sonar and mapping system to the map.

5. An integrated sonar and mapping system according to Claim 1 wherein said screen display is capable of concurrently displaying graphical representations of the cartographic data and the echo data such that visual images of at least a portion of the map and at least some of the objects within the body of water which reflect the sonar signals are simultaneously displayed for the operator.

6. An integrated sonar and mapping system according to Claim 1 wherein said cartographic storage means comprises : first storage means for storing cartographic data representative of a background map; and second storage means for storing cartographic data representative of a detailed map having a greater resolution than the background map.

7. An integrated sonar, mapping and navigational system comprising: at least one transducer for emitting sonar signals through a body of water and for receiving returning sonar signals reflected by objects within the body of water; cartographic storage means for storing cartographic data representative of a map; a positioning receiver for receiving positioning signals from at least one reference transmitter; a controller, operably connected to said at least one transducer, for processing the returning sonar signals to generate echo data representative of the objects within the body of water which reflect the sonar signals, said controller also being operably connected to said positioning receiver for generating positioning data representative of the position of the integrated sonar, mapping and navigational system based upon the positioning signals; and a screen display, responsive to said controller, for displaying graphical representations of the cartographic data, the echo data and the positioning data to thereby provide the operator with respective visual images of at least a portion of the map, at least some of the objects within the body of water which reflect the sonar signals and the position of the integrated sonar, mapping and navigational system.

8. An integrated sonar, mapping and navigational system according to Claim 7 wherein said screen display is further capable of concurrently displaying graphical representations of the cartographic data and the positioning data such that the operator can determine the relative position of the integrated sonar, mapping and navigational system to the map.

9. An integrated sonar, mapping and navigational system according to Claim 7 wherein said screen display is capable of concurrently displaying graphical representations of the cartographic data and the echo data such that visual images of at least a portion of the map and at least some of the objects within the body of water which reflect the sonar signals are simultaneously displayed for the operator.

10. An integrated sonar, mapping and navigational system according to Claim 7 wherein said cartographic storage means comprises: first storage means for storing cartographic data representative of a background map; and second storage means for storing cartographic data representative of a detailed map having a greater resolution than the background map.

11. A method of providing visual images of both sonar and mapping data, the method comprising the steps of: providing cartographic data representative of a map; emitting sonar signals through a body of water; receiving returning sonar signals reflected by objects within the body of water; processing the returning sonar signals to generate echo data representative of the objects within the body of water which reflect the sonar signals; and displaying graphical representations of the cartographic data and the echo data to thereby provide visual images of at least a portion of the map and at least some of objects within the body of water which reflect the sonar signals, respectively.

12. A method according to Claim 11 further comprising the steps of : receiving positioning signals from at least one reference transmitter; and generating positioning data representative of the position of the integrated sonar and mapping system based upon the positioning signals received from the at least one reference transmitter.

13. A method according to Claim 12 wherein said displaying step comprises the step of displaying a visual representation of the positioning data indicative of the position of the integrated sonar and mapping system.

14. A method according to Claim 13 wherein said displaying step further comprises the step of concurrently displaying graphical representations of the cartographic data and the positioning data such that the operator can determine the relative position of the integrated sonar and mapping system to the map.

15. A method according to Claim 11 wherein said displaying step comprises the step of concurrently displaying graphical representations of both the cartographic data and the echo data such that visual images of at least a portion of the map and at least some of the objects within the body of water which reflect the sonar signals are simultaneously displayed for the operator.

16. A method according to Claim 11 wherein said providing step comprises the steps of providing cartographic data representative of a background map and providing cartographic data representative of a detailed map, and wherein said displaying step comprises the step of displaying graphical representations the cartographic data representative of both the background map and the detailed map.