The Library
Modified FMCW scheme for improved ultrasonic positioning and ranging of unmanned ground vehicles at distances < 50 mm
Tools
Laureti, Stefano, Mercuri, Marco, Hutchins, David A., Crupi, Felice and Ricci, Marco (2022) Modified FMCW scheme for improved ultrasonic positioning and ranging of unmanned ground vehicles at distances < 50 mm. Sensors, 22 (24). 9899. doi:10.3390/s22249899 ISSN 1424-8220.
|
PDF
sensors-22-09899-v3 (1).pdf - Published Version - Requires a PDF viewer. Available under License Creative Commons Attribution 4.0. Download (50Mb) | Preview |
Official URL: https://doi.org/10.3390/s22249899
Abstract
Unmanned ground vehicles (UGVs) find extensive use in various applications, including that within industrial environments. Efforts have been made to develop cheap, portable, and light-ranging/positioning systems to accurately locate their absolute/relative position and to automatically avoid potential obstacles and/or collisions with other drones. To this aim, a promising solution is the use of ultrasonic systems, which can be set up on UGVs and can potentially output a precise reconstruction of the drone’s surroundings. In this framework, a so-called frequency-modulated continuous wave (FMCW) scheme is widely employed as a distance estimator. However, this technique suffers from low repeatability and accuracy at ranges of less than 50 mm when used in combination with low-resource hardware and commercial narrowband transducers, which is a distance range of the utmost importance to avoid potential collisions and/or imaging UGV surroundings. We hereby propose a modified FMCW-based scheme using an ad hoc time-shift of the reference signal. This was shown to improve performance at ranges below 50 mm while leaving the signal unaltered at greater distances. The capabilities of the modified FMCW were evaluated numerically and experimentally. A dramatic enhancement in performance was found for the proposed FMCW with respect to its standard counterpart, which is very close to that of the correlation approach. This work paves the way for the future use of FMCWs in applications requiring high precision.
Item Type: | Journal Article | ||||||
---|---|---|---|---|---|---|---|
Subjects: | T Technology > TA Engineering (General). Civil engineering (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering |
||||||
Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||
Library of Congress Subject Headings (LCSH): | Ultrasonics, Wireless localization, Vehicles, Remotely piloted, Automated vehicles | ||||||
Journal or Publication Title: | Sensors | ||||||
Publisher: | MDPI AG | ||||||
ISSN: | 1424-8220 | ||||||
Official Date: | 15 December 2022 | ||||||
Dates: |
|
||||||
Volume: | 22 | ||||||
Number: | 24 | ||||||
Article Number: | 9899 | ||||||
DOI: | 10.3390/s22249899 | ||||||
Status: | Peer Reviewed | ||||||
Publication Status: | Published | ||||||
Access rights to Published version: | Open Access (Creative Commons) | ||||||
Date of first compliant deposit: | 7 February 2023 | ||||||
Date of first compliant Open Access: | 7 February 2023 | ||||||
RIOXX Funder/Project Grant: |
|
Request changes or add full text files to a record
Repository staff actions (login required)
View Item |
Downloads
Downloads per month over past year