Any Ideas for 3D Ultrasound Echolocation

[noble24]

We are attempting to build a building egress system to aid firefighters and other users within homeland defense. The system should allow the user to "see" the general layout of the walls and doors as well as provide data to aid in the determination of the users orientation and position (in this case detect the orientation of the floor). We want to find out if there is a device commercially available or if there is a company that can provide a device that uses an ultrasound burst and then records and processes the echoes to generate a 3D map of the area.