Estimation of object location and radius of curvature using ultrasonic sonar

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dc.citation.epage865en_US
dc.citation.issueNumber7en_US
dc.citation.spage841en_US
dc.citation.volumeNumber62en_US
dc.contributor.authorSekmen, A. Ş.en_US
dc.contributor.authorBarshan, B.en_US
dc.date.accessioned2015-07-28T12:06:33Z
dc.date.available2015-07-28T12:06:33Z
dc.date.issued2001-07en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.description.abstractAcoustic sensors are very popular in time-of-flight (TOF) ranging systems since they are inexpensive and convenient to use. One of the major limitations of these sensors is their low angular resolution which makes object localization difficult. In this paper, an adaptive multisensor configuration consisting of three transmitter/receiver ultrasonic transducers is introduced to compensate for the low angular resolution of sonar sensors and improve the localization accuracy. With this configuration, the radius of curvature and location of cylindrical objects are estimated. Two methods of TOF estimation are considered: thresholding and curve-fitting. The bias-variance combinations of these estimators are compared. Theory and simulations are verified by experimental data from a real sonar system. Extended Kalman filtering is used to smooth the data. It is shown that curve-fitting method, compared to thresholding method, provides about 30% improvement in the absence of noise and 50% improvement in the presence of noise. Moreover. the adaptive configuration improves the estimation accuracy by 35-40%. (C) 2001 Elsevier Science Ltd. All rights reserved.en_US
dc.identifier.doi10.1016/S0003-682X(00)00077-3en_US
dc.identifier.issn0003-682X
dc.identifier.urihttp://hdl.handle.net/11693/13476
dc.language.isoEnglishen_US
dc.publisherElsevieren_US
dc.relation.isversionofhttp://dx.doi.org/10.1016/S0003-682X(00)00077-3en_US
dc.source.titleApplied Acousticsen_US
dc.subjectUltrasonic Transduceren_US
dc.subjectTime-of-flighten_US
dc.subjectExtended Kalman Filteren_US
dc.subjectTarget discriminationen_US
dc.subjectCurve fittingen_US
dc.subjectKalman filteringen_US
dc.subjectUltrasonic transducersen_US
dc.subjectUltrasonic sonaren_US
dc.subjectSonaren_US
dc.titleEstimation of object location and radius of curvature using ultrasonic sonaren_US
dc.typeArticleen_US

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