Self Localization Using A
Modulated Acoustic Chirp
April 2007
Brian P. Flanagan, The MITRE Corporation
ABSTRACT
This paper describes a robust self localization algorithm implemented
on a network of acoustic sensors. The sensors are severely constrained
in both power and computational performance. An acoustic ranging technique
employing a linear frequency modulated chirp is first used to estimate
the range between a pair of nodes. The modulated acoustic chirp provides
significant benefits in increased range and the ability to separate
direct path and multi-path reflections. Localization was performed in
the network using a simple trilateration technique based on the estimated
ranges to four known beacons. The resulting algorithm is highly accurate
under very difficult conditions including significant multi-path and
high levels of background noise. The algorithm was implemented and deployed
on prototype hardware and operated in real time under realistic operational
conditions.
Additional Search Keywords
Localization, Acoustics, Netted Sensing
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