US Patent 11353566 Sonar transducer having a gyroscope

A sonar assembly is provided including at least one transducer configured to transmit one or more sonar beams into an underwater environment, a gyroscope configured to measure angular velocity associated with the at least one transducer, a processor, and a memory. The memory including computer program code configured to, when executed on the processor, cause the processor to determine orientation data associated with the at least one transducer based on the angular velocity measured by the gyroscope, determine if the orientation data corresponds to the at least one transducer being in a desired orientation, and cause an alert in response to the at least one transducer not being in the desired orientation.