Summary
International Conference on Emerging Technologies for Communications
2022
Session Number:O5
Session:
Number:O5-5
Position estimation method using recursive MAP estimation for ultrasonic sensor arrays
Masamichi Hattori, Asuka Tsujii, Takashi Kasashima, Hiroyuki Hatano, Takaya Yamazato,
pp.-
Publication Date:2022/11/29
Online ISSN:2188-5079
Summary:
We are working on the measurement of obstacle positions by ultrasonic sensor arrays. This paper proposes a recursive position estimation method using signals from eight ultrasonic sensors forming a linear array. First, we estimate the distance to the obstacle from the time difference between the eight received signals. Then, assuming that the ranging error follows a Gaussian distribution and that each of the eight ranging values is independent, we can get the existence probability of the obstacle's position by a pair of two obtained distances. In the proposed recursive position estimation, we obtain the existence probability of an obstacle by the procedure shown above, and then use it as the prior probability of the obstacle's estimated position. Furthermore, we recursively perform the same process to obtain the existence probability of the obstacle. In this way, we improve the accuracy of the estimation of the position of the obstacle by the existence probability.