which include chaotic binary amplitude shift keying (c-BASK), chaotic binary phase shift keying (c-BPSK) and chaotic binary frequency shift keying (c-BFSK). To obtain the both best correlation characteristics and energy efficiency, the Nondominated Sorting Genetic Algorithm-II (NSGA-II) is applied to optimize the chaotic binary excitation sequences. Real experiments have been conducted using an ultrasonic ranging system that consists of eight-channel SensComp 600 series instrument-grade electrostatic sensors excited with chaotic binary modulation sequences. The experimental results show that the c-BFSK outperforms the c-BASK and c-BPSK in terms of the correlation characteristics and energy efficiency.With 2 ms c-BFSK excitation sequences, the longest measurable distance was 720 cm (i.e., respectively) with maximal relative error 2.4%.