Beamforming echo-localization system using multitone excitation signals

Pareja-Contreras, Josue; Sotomayor-Polar, Manuel; Zenteno, Efrain

doi:10.1109/inscit.2017.8103522

Cited by 2 publications

(2 citation statements)

References 10 publications

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“…Previously, some articles have already calculated the positions of the measured objects from multiple sensor measurements, but instead of calculating the absolute position of the objects, the angles were determined. This also gives the required information, even though the sensors can not distinguish from which object the signal is emitted if multiple objects are measured [18][19][20]. Therefore, another correlation needs to be used.…”

Section: Raster Modification With Prioritized Placesmentioning

confidence: 99%

“…This intersection point gives the position of an obstacle. In the case of the 2D model with the transmitter being in the origin, and the shifts of the receiver positions x 1 , x 2 on the axis and with a 1 , a 2 semi major a 1 , a 2 and semi minor axes b 1 , b 2 the solution of the following equation system (18) gives the intersection point coordinates x, y:…”

Section: Raster Modification With Prioritized Placesmentioning

confidence: 99%

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Intelligent Wavelet Based Pre-Filtering Method for Ultrasonic Sensor Fusion Inverse Algorithm Performance Optimization

Kovács

Nagy

2021

Inventions

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Certain obstacle mapping applications require the live evaluation of the measured data to prevent collision with obstacles. The fusion of different or similar sensors usually has a high calculation demand, which increases significantly with the area to be evaluated and the number of sensors. In the present considerations, we propose a wavelet-based adaptive optimization method, which can greatly decrease the number of grid points to be evaluated, and thus the necessary computation time. The basis of the method is to use the fact that the areas to be evaluated mostly face a rather small number of obstacles, which cover a smaller percentage of the whole environment. The first step in a pre-filtering process is the determination of the zones where no obstacles are present. This step can already result in a considerable decrease in the computation time, however with the transformation to polar coordinates, the method will not only be more fitted to the problem to be solved, but the area of the evaluation can also be increased with the same number of grid points. As a last step, we applied wavelet transformation to identify the regions of interest, where the application of a refined raster is necessary, and thus further decreasing the number of grid points where the calculation has to be carried out. We used our previously developed probability-based ultrasonic sensor fusion inverse algorithm to demonstrate the efficiency of the proposed method.

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Section: Raster Modification With Prioritized Placesmentioning

confidence: 99%

Section: Raster Modification With Prioritized Placesmentioning

confidence: 99%

Intelligent Wavelet Based Pre-Filtering Method for Ultrasonic Sensor Fusion Inverse Algorithm Performance Optimization

Kovács

Nagy

2021

Inventions

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Self-Localization Method Using a Single Acoustic Ranging Sensor Based on Impulse Response and Doppler Effect

Tsuchiya,

Wakatsuki,

Ebihara

et al. 2024

J. Ind. Sea. Pos. Nav.

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This study aims to realize self-position estimation for indoor robots using only a single acoustic channel. When a single omnidirectional transmitter/receiver is used as an object detection sensor, detected objects are identified on concentric circles with the transmitter/receiver as the center point. Self-position estimation method using this sensor cannot use the directional information of the detected object. This fact makes it impossible to specify the robot's turning angle using environmental information. In this paper, we propose a self-position estimation method using a single omnidirectional transmitter/receiver that can consider the direction of the reflected object by estimating the direction of the reflected wave from the Doppler effect generated during the robot's movement. The self-position estimation was implemented by using echo images of the direction of arrival of sound waves estimated from the Doppler effect and the distance of arrival of sound waves estimated from the impulse response and matching them with a previously generated map image. The accuracy of the proposed method was evaluated by simulation and experiment. In the simulation, an average position estimation error of 0.042 m was achieved; in the experiment, it was 0.051 m. Furthermore, experimental and simulation results show that using the Doppler effect contributes to selfposition estimation accuracy.

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Beamforming echo-localization system using multitone excitation signals

Cited by 2 publications

References 10 publications

Intelligent Wavelet Based Pre-Filtering Method for Ultrasonic Sensor Fusion Inverse Algorithm Performance Optimization

Intelligent Wavelet Based Pre-Filtering Method for Ultrasonic Sensor Fusion Inverse Algorithm Performance Optimization

Self-Localization Method Using a Single Acoustic Ranging Sensor Based on Impulse Response and Doppler Effect

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