Localization and tracking of moving objects in two-dimensional space by echolocation

Abstract

Bats use frequency-modulated echolocation to identify and capture moving objects in real three-dimensional space. Experimental evidence indicates that bats are capable of locating static objects with a range accuracy of less than 1 μs. A previously introduced model estimates ranges of multiple, static objects using linear frequency modulation (LFM) sound and Gaussian chirplets with a carrier frequency compatible with bat emission sweep rates. The delay time for a single object was estimated with an accuracy of about 1.3 μs by measuring the echo at a low signal-to-noise ratio (SNR). The range accuracy was dependent not only on the SNR but also the Doppler shift, which was dependent on the movements. However, it was unclear whether this model could estimate the moving object range at each timepoint. In this study, echoes were measured from the rotating pole at two receiving points by intermittently emitting LFM sounds. The model was shown to localize moving objects in two-dimensional space by accurately estimating the object's range at each timepoint.