A linearization-based method of simultaneous position and velocity measurement using ultrasonic waves

This paper proposes a novel system for three dimensional - position and velocity measurements with echolocation. It is improved from the former systems, based on low computational one-bit signal processing, to have wider detectability from one and two dimensions to three dimensions with the rearrangement of the ultrasonic receiver positions. The proposed method can measure the object location from non-linear equations without using iterative methods. This method can concurrently measure position and velocity in three dimensional spaces with one-time measurement. The sound radiation and reflection studies using echolocation are also included in this paper. The additive noise: White Gaussian Noise, Colored Gaussian Noise, General Gaussian Noise, Laplacian Noise, and Gaussian Mixture Noise, is considered for the performance study. The system consists of one sound transmitter and three receivers. These devices are simple sound packages to support low-cost applications. In addition, to satisfy the requirement for a low-computation cost, an echo is converted into a one-bit signal by a three-channel delta-sigma-modulation board. Then, FPGA is used to determine recursive cross correlation based on one-bit computation. The object location is then defined with x-y-z coordinates. The object's velocity is computed using linear-period-modulated signals. The validity and repeatability of experimental results are evaluated using statistics.