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A sonar ring with continuous matched filtering and dynamically switched templates

Published online by Cambridge University Press:  24 October 2011

Damien C. Browne  and
Lindsay Kleeman
Damien C. Browne*
Affiliation:
Intelligent Robotics Research Centre, Department of Electrical and Computer Systems Engineering, Monash University, Australia
Lindsay Kleeman
Affiliation:
Intelligent Robotics Research Centre, Department of Electrical and Computer Systems Engineering, Monash University, Australia
*
*Corresponding author. E-mail: damien_browne@hotmail.com
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Summary

Matched filtering optimally estimates the arrival time for a sonar sensor by correlating received signals with templates. This paper presents a sonar ring with continuous matched filtering on 48 receiver channels sampled at 500kHz. The design dynamically switches the matched filter templates to account for pulse shape variations with range. To achieve real-time, low-latency and optimal performance, processing is implemented on an field-programmable gate array (FPGA) transmitting sonar pulses (2 periods of a 45kHz sine wave) at repetition rate of 30-Hz to 5.7-m range. The paper describes the removal of secondary peaks of the correlation output of matched filtering and template selection. Results include sonar maps, accuracy measurements and localization of weak targets.

Keywords

Sensor or actuator designMobile robotsSonar sensingMap buildingDesign
Type
Articles
Information
Robotica , Volume 30 , Issue 6 , October 2012 , pp. 891 - 912
Copyright
Copyright © Cambridge University Press 2011

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