A bat-like sonar system for obstacle localization
A bat-like sonar system for obstacle localization
复制标题
DOI：
10.1109/21.156577
复制
发表时间：
1992-07
期刊：
影响因子：
--
通讯作者：
B. Barshan;R. Kuc
中科院分区：
文献类型：
--
作者：
B. Barshan;R. Kuc
主动宽波束声纳系统，模仿回声定位蝙蝠的传感器配置的传感器为基础的机器人的应用程序。在二维（2-D）环境中的障碍物检测和定位使用的飞行时间（TOF）测量其回波。标准阈值检测器产生有偏TOF估计。一个无偏的TOF估计是通过对回波波形的参数拟合得到的，其动机是对实际声纳信号的实验观察。这种新方法在最优估计器和有偏门限检测器的复杂度之间形成了折衷。利用这两种方法得到的飞行时间信息，对障碍物的距离和方位进行了估计。如果障碍物位于沿着系统视线，则定位是最准确的，并且随着范围的减小而改进。的距离和方位估计的标准偏差进行比较的Cramer-Rao下限。抛物线拟合方法具有大的方差，但在与视线的大偏差处为零偏差。将系统的运行从孤立障碍物推广到扩展障碍物。>
An active wide-beam sonar system that mimics the sensor configuration of echolocating bats is described for applications in sensor-based robotics. Obstacles in a two-dimensional (2-D) environment are detected and localized using time-of-flight (TOF) measurements of their echoes. The standard threshold detector produces a biased TOF estimate. An unbiased TOF estimate is derived by a parametric fit to the echo waveform, motivated by experimental observations of actual sonar signals. This novel method forms a tradeoff between the complexity of the optimum estimator and the biased threshold detector. Using the TOF information from both methods, the range and azimuth of an obstacle are estimated. Localization is most accurate if the obstacle is located along the system line-of-sight and improves with decreasing range. Standard deviations of the range and azimuth estimators are compared to the Cramer-Rao lower bounds. The parabolic fit method has large variance but zero bias at large deviations from the line-of-sight. The system operation is generalized from isolated obstacles to extended obstacles. >