US Patent 7295492 Method and apparatus for correlation sonar

A correlation SONAR that provides improved velocity estimates due to a reduction in random and bias errors is disclosed. Rather than basing the velocity estimate on a single set of primary receiver pairs, one or more additional velocity estimates are generated based on one or more available receiver pair sets having the same velocity vectors as the primary receiver pairs set. Additional velocity estimates also provide a reliability and accuracy improvement by enabling identification and subsequent elimination of erroneous velocity estimates.