Multi-lateration for multiplexed ultrasonic sensors

This paper presents a new multi-lateration algorithm developed by the authors for multiplexed ultrasonic emitters. Our ultrasonic sensor system had a problem that a sampling rate for each emitter had to be decreased to avoid crosstalk as the number of emitter increased. We analyzed the phenomena geometrically and mathematically, and developed a new multi-lateration algorithm that enables our ultrasonic sensor system locate multiple emitters at a time by activating them simultaneously. Simulation results supported the effectiveness of our proposed algorithm and the algorithm implemented in our test system worked perfectly for the experiments conducted in a real environment.