Pipelined sampling techniques for sonar tracking systems

Author

Hanebeck, Uwe D.

Author_Institution

Inst. of Autom. Control Eng., Tech. Univ. Munchen, Germany

Volume

4

fYear

1998

fDate

16-20 May 1998

Firstpage

2813

Abstract

Introduces fast sampling strategies for pulse-echo time-of-flight sonar using time multiplexing. As a result, multiple interlaced measurement streams are employed to achieve high sampling rates without sacrificing range accuracy. The method considers receiver blanking constraints caused by imperfect acoustic decoupling between transmitter and receivers. Furthermore, uncertainties due to measurement noise and moving targets are taken into account. The proposed approach has been experimentally validated for sampling rates of up to 450 Hz with a multi sonar system mounted on a mobile robot

Keywords

distance measurement; mobile robots; multiplexing; signal sampling; sonar tracking; ultrasonic transducers; 450 Hz; fast sampling strategies; measurement noise; mobile robot; moving targets; multiple interlaced measurement streams; pipelined sampling techniques; pulse-echo time-of-flight sonar; range accuracy; receiver blanking constraints; sonar tracking systems; time multiplexing; Acoustic measurements; Acoustic noise; Acoustic pulses; Blanking; Measurement uncertainty; Mobile robots; Noise measurement; Sampling methods; Sonar measurements; Transmitters;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680477

Filename

680477