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1、3334IEEETRANSACTIONSONINSTRUMENTATIONANDMEASUREMENT,VOL.60,NO.10,OCTOBER2011RobustHigh-AccuracyUltrasonicRangeMeasurementSystemM.M.Saad,ChrisJ.Bleakley,Member,IEEE,andSimonDobson,SeniorMember,IEEEAbstractThispaperpresentsanovelmethodforultrasonicdependsonmeasuringtheti
2、metakenforanultrasonicsignalrangeestimation.Themethodusesawidebandfrequency-hoptotravelbetweenatransmitterandareceiver.Thedistancespreadspectrumultrasonicsignaltoincreaserobustnesstonoisebetweenthetransmitterandthereceiveristhencalculatedbyandreverberation.Themethodapp
3、liescross-correlationwithmultiplyingtheestimatedTOFbytheacousticpropagationearliestpeaksearchandanovelminimumvariancesearchtech-niquetocorrecttheerrorinthecross-correlationtime-of-?ightvelocity.Thedelayofthepeakofthecross-correlationbetweenestimatetowithinonewavelength
4、ofthecarrierbeforeapplyingthetransmittedandreceivedsignalscanbeusedtoestimateaphase-shifttechniqueforsubwavelengthrangere?nement.ThetheTOFrelativetoaradiofrequencysynchronizationsignal.methodcanbeimplementeddigitallyinsoftwareandonlyrequiresAlternatively,aphase-shiftme
5、thodissometimesusedtoesti-low-costhardwareforsignaltransmissionandacquisition.Exper-matethedistancebetweenthetransmitterandthereceiverbyimentalresultsshowanaccuracyofbetterthan0.5mminatypicalof?ceenvironment.measuringthephasedifferencebetweenthetransmittedandreceivedsi
6、gnals.Thephase-shiftmethodistypicallymoreac-IndexTermsCross-correlation,frequency-hopspreadspec-curatethanthecross-correlation-basedTOFmethod.However,trum(FHSS),phaseshift,rangeestimation,ultrasonic.withthephase-shiftmethod,themaximumrangethatcanbeestimatedislimitedtoo
7、newavelengthofthetransmittedsignalI.INTRODUCTION[15],[17].ANGEmeasurementisimportantformanyapplications,ThispaperproposesanovelmethodforultrasonicrangeRincludingnavigationtoolsforhumansandrobots,build-estimation.Themethodusesawidebandfrequency-hopspreadingmapping,inter
8、activegames,resourcediscovery,assettrack-spectrum(FHSS)ultrasonicsignalforrobustnesstotypicaling,andlocation-awaresen
