Discrete Extended Kalman Filter Based Ultrasonic Time-OfFlight Estimation
Journal Title: International Journal of engineering Research and Applications - Year 2018, Vol 8, Issue 11
Abstract
In mobile robotics applications, the existence of noise measurement may impact on the performance degradation. The noise measurement of the sensor is produced due to several reasons, such as low specification, external signal disturbances and the complexity of the measured state. Therefore, it should be avoided to achieve the good control performance. One of the solution is by designing a signal filter. In this paper, a new digital signal-processing method for ultrasonic time-of-flight (TOF) estimation is presented. The method applies the discrete extended Kalman filter (DEKF) to the acquired ultrasonic signal in order to accurately estimate the shape factors of echo envelope as well as locate its onset. It is so possible to assure reduced bias and uncertainty also in critical TOF measurements, such as those involving low signal to noise ratio (SNR) as well as severe distortion of echo shape. A number of numerical tests are conducted on simulated signals with the aim of highlighting the good performance of the method when operating in critical conditions.
Authors and Affiliations
K. Anitha, M. Srinivasa Rao
Keywords
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- EP ID EP409203
- DOI 10.9790/9622-0811013137.
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