Abstract: An autonomous sonar system and method provide an arrangement capable of beamforming in three dimensions, detecting loud targets, adaptively beamforming in three dimensions to avoid the loud targets, detecting quiet targets, localizing the loud or quiet targets in range, bearing, and depth, detecting modulation of noise associated with propellers of the loud or quiet targets, generating three dimensional tracks of the loud or quiet targets in bearing, range and depth, making classification of the loud or quiet targets, assigning probabilities to the classifications, and generating classification reports according to the classifications for communication to a receiving station, all without human assistance.

Abstract: An autonomous sonar system and method provide an arrangement capable of beamforming in three dimensions, detecting loud targets, adaptively beamforming in three dimensions to avoid the loud targets, detecting quiet targets, localizing the loud or quiet targets in range, bearing, and depth, detecting modulation of noise associated with propellers of the loud or quiet targets, generating three dimensional tracks of the loud or quiet targets in bearing, range and depth, making classification of the loud or quiet targets, assigning probabilities to the classifications, and generating classification reports according to the classifications for communication to a receiving station, all without human assistance.

Abstract: Self leveling apparatus that includes a frame, a device that is to be leveled, and a leveling mechanism such as a double ring gimbal having an inner gimbal ring and an outer gimbal ring. The outer gimbal ring is secured to the frame and the inner gimbal ring is secured to the device and to the outer ring. The inner ring comprises a viscous or preloaded bearing that allows the device to swing around an inner ring axle to thereby level itself in that axis and prevent spurious movement of the device. The outer gimbal ring and inner gimbal ring are attached by outer axles that comprise a viscous or preloaded bearing that allow the inner gimbal ring to swing around the outer axles thereby level the inner gimbal ring in that axis and prevent spurious movement of the device. A disclosed embodiment of the invention includes a magnetometer sensor that is coupled to signal processing and telemetry electronics and a power source that are leveled to keep axes of the sensor oriented along horizontal and vertical axes.