Mobile robot sonar for target localization and classification
International Journal of Robotics Research
An advanced sonar ring design with 48 channels of continuous echo processing using matched filters
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Loop exploration for slam with fusion of advanced sonar features and laser polar scan matching
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Biomimetic Sonar System Performing Spectrum-Based Localization
IEEE Transactions on Robotics
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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.