A sonar ring with continuous matched filtering and dynamically switched templates

作者：Browne Damien C^*; Kleeman Lindsay

来源：Robotica, 2012, 30(6): 891-912.

DOI：10.1017/S0263574711001093

• Sensor or actuator design
• Mobile robots
• Sonar sensing
• Map building
• Design

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 500 kHz. 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 45 kHz 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.

• 出版日期2012-10