Abstract
The Doppler effect is a very useful phenomenon in both radar and sonar systems for measuring the speed of objects. Chirps have traditionally been used in these systems due to the good properties of their compressed pulse. However, these signals when emitted and/or received in motion can suffer from Range-Doppler Coupling (RDC) influencing the Time of Flight (ToF) estimation. This influence is more accentuated in the acoustic systems especially in those developed in the air environment, such as sonar or acoustic positioning systems.This work proposes the use of a Doppler effect compensation algorithm that allows ultrasonic positioning of moving objects indoors. For this, a signal has been designed consisting of a chirp and a carrier pulse that allows to take advantage of the good qualities of the chirp, at the same time that the carrier pulse measures the speed between the emitter and receiver and from it correct the RDC suffered by the chirp. By obtaining the ToF corrected for each of the emitting beacons it is possible to position the receiver in motion.Simulations and experiments have been conducted to corroborate the good performance of the proposed algorithm, obtaining the receiver position with centimeter accuracy up to 2 m/s.
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