“…Golay codes (Hernández Á., Ureña J, & Hernanz D., 2003;Ding Z., & Payne P, 1990;Hernández Á., Ureña J., & García J, 2004; Alvarez F., Diaz V., Ureña J., & Mazo M., 1999;Marziani C., Ureña J., & Hernández A., 2007) were applied in ultrasonic ranging system to avoid crosstalk and increase the signal to noise ratio (SNR). Chaotic codes (Fortuna L., Frasca M., & Rizzo A, 2003;Yao Z., Meng M., Li G., & Lin P, 2008) were also used to eliminate crosstalk in multichannel simultaneously triggered ultrasonic ranging System. Fortuna et al (2003) exploited chaotic pulse position modulation (CPPM) to fire the ultrasonic sensor.…”