PHYSICALLY BASED SIMULATION-MODEL FOR ACOUSTIC SENSOR ROBOT NAVIGATION
PHYSICALLY BASED SIMULATION-MODEL FOR ACOUSTIC SENSOR ROBOT NAVIGATION
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DOI：
10.1109/tpami.1987.4767983
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发表时间：
1987-11-01
影响因子：
23.6
通讯作者：
SIEGEL, MW
中科院分区：
文献类型：
--
作者：
KUC, R;SIEGEL, MW
描述了一种计算机模型，该模型结合了声学、线性系统理论和数字信号处理领域的概念，以模拟使用飞行时间测距的声学传感器导航系统。通过将发射器/接收器分离成单独的组件并假设镜面反射器，将来自拐角、边缘和墙壁的反射的封闭形式解确定为换能器尺寸、位置和方向的函数。由角落、墙壁和边缘组成的楼层平面图被有效地编码，以指示这些元素中的哪些元素对特定的脉冲回波响应有贡献。然后可以有效地模拟由具有不同谐振频率和发射脉冲波形的换能器产生的声纳图。两个平面图的模拟声纳地图的例子说明了模型的性能。实际声纳地图，以验证仿真结果。
A computer model is described that combines concepts from the fields of acoustics, linear system theory, and digital signal processing to simulate an acoustic sensor navigation system using time-of-flight ranging. By separating the transmitter/receiver into separate components and assuming mirror-like reflectors, closed-form solutions for the reflections from corners, edges, and walls are determined as a function of transducer size, location, and orientation. A floor plan consisting of corners, walls, and edges is efficiently encoded to indicate which of these elements contribute to a particular pulse-echo response. Sonar maps produced by transducers having different resonant frequencies and transmitted pulse waveforms can then be simulated efficiently. Examples of simulated sonar maps of two floor plans illustrate the performance of the model. Actual sonar maps are presented to verify the simulation results.