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.
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Additional Search Keywords
Localization, Acoustics, Netted Sensing
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