Abstract
Distance measurement using an ultrasonic wave is suitable for environment recognition in autonomous mobile robots. Ultrasonic distance measurement with the pulse-echo method is based on the determination of the reflected echo's time of flight (TOF). Pulse compression can improve distance resolution and the reflected echo's signal-to-noise ratio (SNR). However, calculation of cross correlation requires high-cost digital signal processing. A sensor signal processing method of cross correlation using a delta-sigma modulated single-bit digital signal has been proposed. Cross correlation by single-bit signal processing reduces the calculation costs of cross correlation. Furthermore, cross correlation by single-bit signal processing improves the time resolution of the cross-correlation function. Therefore, the high-time-resolution cross-correlation function improves the distance resolution of the cross-correlation method. In this paper, ultrasonic distance measurement using cross correlation by single-bit signal processing is evaluated based on computer simulations and the experimental results.
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