通过单比特信号处理获得具有高时间分辨率互相关函数的超声波测距精度和分辨率.pdfVIP

Acoust. Sci. Tech. 30, 6 (2009) #2009 The Acoustical Society of Japan PAPER Accuracy and resolution of ultrasonic distance measurement with high-time-resolution cross-correlation function obtained by single-bit signal processing 1 1; 2 Shinnosuke Hirata , Minoru Kuribayashi Kurosawa and Takashi Katagiri 1Department of Information Processing, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, G2–32, 4259 Nagatsuta-cho, Midori-ku, Yokohama, 226–8502 Japan 2Sutekina Inc., 1134–12 Akaho, Komagane, 399–4117 Japan ( Received 15 December 2008, Accepted for publication 3 June 2009 ) 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. Therefor