A linear least square approach for navigation using ultrasonic waves
Article Sidebar
Main Article Content
Abstract
In this paper, we present an optional method for position and velocity measurements of navigation by means of echolocation. The proposed idea can localize a moving object with various velocities in three dimensional (3D) spaces. In addition, this method can determine the object’s position and velocity with one-time computation from the original non-linear model using the linear least square-based method. To satisfy the navigation problem dealing with the additive noise, Color Gaussian Noise is considered mainly for the performance study in computer simulations. The designed system consists of one loudspeaker and four acoustical microphones. An echo received from the microphone is converted into a one-bit stream based on a four-channel delta-sigma-modulation board. Next, FPGA is applied to compute the recursive cross correlation using one-bit signal processing. The object considered as a flying ball is positioned in x-y-z coordinates. Study of position dilution of precision involving with the uncertainty in the object position is also studied. The object’s velocity is calculated using a pair of linear-period-modulated ultrasonic signals. The validity is evaluated by the probability density function (PDF) and the cumulative density function (CDF) from the repeated experimental results.
Article Details
This journal provides immediate open access to its content on the principle that making research freely available to the public supports a greater global exchange of knowledge.
- Creative Commons Copyright License
The journal allows readers to download and share all published articles as long as they properly cite such articles; however, they cannot change them or use them commercially. This is classified as CC BY-NC-ND for the creative commons license.
- Retention of Copyright and Publishing Rights
The journal allows the authors of the published articles to hold copyrights and publishing rights without restrictions.
References
[2] M. Yano, I. Matsuo, and J. Tani, "Echolocation of multiple target in 3-D space from a single emission,"J. of Biological Physics,Vol.28, no. 3, pp. 509-525, Sep. 2002.
[3] W. Padungsriborworn, A. Furukawa, and S. Hirose, "Improvement of SAFT by Implementation of Approximate Wave Solution in Fluid-Solid Two-Phase: A Case Study on Imaging of Aluminum Rod with Side-Drilled Holes," J. of Non-destructive Eval., 2015, pp. 1573-4862.
[4] S. Wada, K. Tezuka, W. Treenuson, N. Tsuzuki, and H. Kikura, "Study on the optimal Number of Transducers for Pipe Flow Rate Measurement Downstream of a Single Elbow Using the Ultrasonic
Velocity Profile Method," Science and Technology of Nuclear Installations, vol. 2012, pp. 1-12 , Jun. 2012.
[5] A. Trucco, S. Curletto, and M. Palmese, "Interpolation of Medical Ultrasound Images From Coherent and Noncoherent Signals," IEEE Transactions on Instrumentation and Measurement, vol. 58, no. 7, pp. 2048 - 2060, Jul. 2009.
[6] L. J. Stankovic, T. Thayaparan, and M. Dakovic, "Signal Decomposition by Using the S-Method with Application to the Analysis of HF Radar Signals in Sea-Clutte," IEEE Transactions on Signal Processing, vol. 54, no. 11, pp. 4332 - 4342, Nov. 2006.
[7] Z.-J Yao, Q-H. Meng, and M. Zeng, "Improvement in the accuracy of estimating the time-of-flight in an ultrasonic ranging system using multiple square-root unscented Kalman filters," Sci. Instrum., vol. 81, no. 10, Oct. 2010.
[8] T. Schlegl, T. Bretterklieber, M. Neumayer, and H. Zangle, "Combined Capacitive and Ultrasonic Distance Measurement for Automotive Applications, " IEEE Sensors J., vol. 11, no. 11, pp. 2636
- 2642, Nov. 2011.
[9] S. Hirata, M. Kurosawa, and T. Katari, "Accuracy and resolution of ultrasonic distance measurement with high-time-resolution crosscorrelation function obtained by single-bit signal processing," The Acoustical Society of Japan, vol. 30, no. 6, pp. 429-438, Jan. 2009.
[10] R. Queiros, P. S. Girao, and A. C. Serra, "Cross-Correlation and Sine-Fitting Techniques for High-Resolution Ultrasonic Ranging," Instrumentation and Measurement Technology Conf., Sorrento, Italy, 2006, pp 552 - 556.
[11] M. M. Saad, C. J. Bleakley, and S. Dobson, "Robust High-Accuracy Ultrasonic Range Measurement System," IEEE Transactions on Instrumentation and Measurement, vol. 60, no. 10, pp. 3334 - 3341, Oct. 2011.
[12] L. Christopher, "Computing the cross ambiguity function âAS A review," Master Thesis, Binghamton University, State University of New York, 2001.
[13] Super Audio CD, "Production Using Direct Stream Digital Technology," Electronics and Sony Corporation copyright, http://www.canadapromedia.com
[14] J. J. Kroszczynski , "Pulse compression by means of linear-period-modulated," Proceedings of the IEEE, vol. 57, no. 7, pp. 1260 - 1266, Jul. 1969.
[15] S. Hirata, and M. K. Kurosawa, "Ultrasonic distance and velocity measurement using a pair of LPM signals for cross-correlation method improvement of Doppler-shift compensation of Doppler velocity estimation," Ultrasonics, vol. 52, no. 7, pp. 873âAS879, Sep. 2012.
[16] M. D. Fox and, W. M. Gardiner, "Threedimensional Doppler velocity of flow jet," IEEE Transactions on Biomedical Engineering, vol. 35, no. 10, pp. 834 - 841, Oct. 1988.
[17] E. J. Evans, and E. N. Bazley, "The absorption of sound in air at audio frequencies," Acoustica 6, 1956, pp. 238-245.
[18] F. E. Nathanson, "Radar Design Principles," SciTech Pubs. New York, 1999.
[19] W. S. Burdic, "Underwater Acoustic Systems Analysis," Prentice-Hall, Englewood Cliffs, New Jersey, 1984.
[20] K. P. Chong and, S. H. Zak, "Introduction to optimization, " John Wiley & Sons, Inc., New York, 2001.
[21] N. Thong-un, S. Hirata, Y.Orino, and M. K. Kurosawa, "A linearization-based method of simultaneous position and velocity measurement using ultrasonic waves," Sensors and Actuators A: Physical, vol. 266, no. 1, pp. 480 - 499, Sep. 2015.
[22] A.J. Martin, A.H. Alonso, D. Ruiz, I. Gude, C.D. Marziani M.C. Perez, F.J. Alvarez, C. Gutierrez, and J. Urena, "EMFi-based ultrasonic sensory array for 3D localization of reectors using positioning
algorithm," IEEE Sensors J., vol. 15, no. 5, pp. 2951 - 2962, May. 2015.