design and implementation of an ultrasonic position … · design and implementation of an...
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DESIGN AND IMPLEMENTATION OF AN ULTRASONIC POSITION SYSTEM FOR MULTIPLE VEHICLE CONTROL
By
DONALD K. MACARTHUR
A THESIS PRESENTED TO THE GRADUATE SCHOOL OF THE UNIVERSITY OF FLORIDA IN PARTIAL FULFILLMENT
OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF SCIENCE
UNIVERSITY OF FLORIDA
2003
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Copyright 2003
by
Donald K. MacArthur
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ACKNOWLEDGMENTS
I would like to thank Dr. Carl Crane for his support, guidance, and hard work
towards providing the facilities and working environment necessary for my research. I
would also like to thank Dr. Gary Matthew and Dr. John Schueller for their guidance and
for serving on my committee. I would like to thank all of the personnel of the Center for
Intelligent Machines and Robotics and the Machine Intelligence Laboratory for their
support and expertise. I would also like to sincerely thank Erica Zawodny for her love
and support throughout this entire process. Finally, I would like to thank my family, to
whom I owe everything.
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TABLE OF CONTENTS
page
ACKNOWLEDGMENTS ................................................................................................. iii
LIST OF FIGURES ........................................................................................................... vi
ABSTRACT....................................................................................................................... ix
CHAPTER 1 INTRODUCTION ............................................................................................................1
CIMAR Background....................................................................................................... 1 Concept Foundation........................................................................................................ 1 Position System Dependence.......................................................................................... 2 Problem Definition.......................................................................................................... 3
2 POSITION SYSTEMS BACKGROUND ........................................................................4
GPS ................................................................................................................................. 4 Introduction................................................................................................................. 4 Position Solution......................................................................................................... 5 Accuracy and Update Rate.......................................................................................... 6
Beacon Based Position Systems ..................................................................................... 6 Landmark Based Position Systems................................................................................. 8
3 ULTRASONICS BACKGROUND................................................................................13
Ultrasonic Ranging Systems ......................................................................................... 13 Transmitting Ultrasonic Waves ................................................................................ 13 Receiving Ultrasonic Waves..................................................................................... 14 Ultrasonic Ranging Configurations .......................................................................... 15 Types of Ultrasonic Sensors ..................................................................................... 16
Electrostatic Ultrasonic Sensors ........................................................................... 16 Piezoelectric Ultrasonic Sensors........................................................................... 17
Speed of Sound ......................................................................................................... 18 Acoustic Interference ................................................................................................ 19
4 DIFFERENCE IN TIME OF FLIGHT...........................................................................21
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Concept Fundamentals.................................................................................................. 21 Foundation Equations ............................................................................................... 22 Solution Verification................................................................................................. 24 Solution Singularities................................................................................................ 25
5 INITIAL PROTOTYPE DESIGN ..................................................................................30
Prototype Construction ................................................................................................. 30 Prototype Testing Results ............................................................................................. 32
Establishing Proof of Concept .................................................................................. 32 Improving Prototype Configuration.......................................................................... 34
6 FINAL PROTOTYPE.....................................................................................................39
7 FINAL ULTRASONIC POSITIONING SYSTEM .......................................................47
Global Position Solution ............................................................................................... 47 Complete Position System for Multiple Vehicle Control ............................................. 49 Indoor Testing............................................................................................................... 50
8 CONCLUSIONS.............................................................................................................56
Overview....................................................................................................................... 56 DTOF Versus TOF/DTOF Methods............................................................................. 56 Final Prototype.............................................................................................................. 57 Multiple Vehicle Control .............................................................................................. 59
APPENDIX A VERIFICATION CALCULATION DATA ..................................................................60
B LIST OF MAIN HARDWARE COMPONENTS .........................................................61
Initial Prototype ............................................................................................................ 61 Final Prototype.............................................................................................................. 61
LIST OF REFERENCES...................................................................................................62
BIOGRAPHICAL SKETCH .............................................................................................65
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LIST OF FIGURES
Figure Page 1.1: Multiple Vehicle System ................................................................................................3
2.1: Global Position System Illustration ................................................................................5
2.2: Beacon Based Positioning for Aircraft ...........................................................................8
2.3: Indoor Landmark Positioning Illustration.......................................................................9
2.4: Incremental Encoder .......................................................................................................10
2.5: Precision Navigation Inc. Digital Compass....................................................................12
3.1: Ultrasonic Transmitter ....................................................................................................14
3.2: Illustration of Reflected Ultrasonic Signal .....................................................................14
3.3: Illustration of Transmitter/Receiver Pair ........................................................................15
3.4: Illustration of Transceiver Configuration .......................................................................16
3.5: Polaroid Electrostatic Transducers .................................................................................17
3.6: Polaroid Piezoelectric Ultrasonic Transducer.................................................................18
4.1: Diagram of DTOF Configuration ...................................................................................22
4.2: Emitter Verification Coordinates....................................................................................24
4.3: Plot of Eq. 4.20 and 4.21 in r1 versus x plane ................................................................26
4.4: Plot of Eq. 4.20 and 4.21 in r1 versus x plane ................................................................26
4.5: Plot of the Quality Index in the y/a versus x/a plane ......................................................27
4.6: Quality Index for x/a=0 ..................................................................................................28
4.7: Quality Index for y/a=0 ..................................................................................................28
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5.1: Initial Prototype System Circuitry Overview .................................................................30
5.2: Initial Prototype ..............................................................................................................31
5.3: Initial Testing Configuration ..........................................................................................32
5.4: Calculated Range using DTOF method ..........................................................................32
5.5: Calculated x using DTOF method ..................................................................................33
5.6: Calculated Range for the Initial Prototype at r1=10 feet.................................................35
5.7: Calculated x for Initial Prototype at r1=10 feet...............................................................35
5.8: Calculated Range for the Initial Prototype at r1=15 feet.................................................36
5.9: Calculated x for the Initial Prototype at r1=15 feet ........................................................36
5.10: Calculated Range for the Initial Prototype at r1=20 feet ..............................................37
5.11: Calculated Range for the Initial Prototype at r1=20 feet ..............................................37
6.1: Final Prototype System Overview ..................................................................................40
6.2: Final Prototype Geometry...............................................................................................41
6.3: Testing Configuration for Final Prototype......................................................................42
6.4: Measured Range for the Final Prototype at r = 10 feet...................................................43
6.5: Measured x for the Final Prototype at r=10 feet.............................................................43
6.6: Measured Range for the Final Prototype at r=15 feet.....................................................44
6.7: Measured x for the Final Prototype at r=15 feet.............................................................44
6.8: Measured Range for the Final Prototype at r=20 feet.....................................................45
6.9: Measured x for the Final Prototype at r=20 feet.............................................................46
7.1: Overall Ultrasonic Positioning System Diagram............................................................47
7.2: Host Portion of the Ultrasonic Positioning System ........................................................50
7.3: Client Portion of the Ultrasonic Positioning System......................................................50
7.4: Coordinate system for Client System .............................................................................51
7.5: Calculated Position of Host System Placed along +x direction......................................51
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7.6: Calculated Position of Host System Placed along +y direction......................................52
7.7: Calculated Position of Host System Placed along -x direction ......................................53
7.8: Calculated Position of Host System Placed along -y direction ......................................53
7.9 Ultrasonic Position System Host Vehicle ........................................................................54
7.10: Ultrasonic Position System Client Vehicle...................................................................55
7.11: Following Control using the Ultrasonic Positioning System........................................55
8.1: Calculated x versus y for Ultrasonic Emitter Placed along Different Axes ...................58
8.2: Host and Client hardware for Final Prototype ................................................................58
8.3: Host and Client Vehicle with Ultrasonic Position System .............................................59
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Abstract of Thesis Presented to the Graduate School of the University of Florida in Partial Fulfillment of the
Requirements for the Degree of Master of Science
DEVELOPMENT AND IMPLEMENTATION OF AN ULTRASONIC POSITIONING SYSTEM FOR MULTIPLE VEHICLE CONTROL
By
Donald K. MacArthur
May 2003
Chairman: Carl Crane Major Department: Mechanical and Aerospace Engineering
This thesis presents the processes and methods by which an ultrasonic positioning
system was developed for the purpose of controlling autonomous/unmanned ground
vehicles. The presentation is broken down into the different stages in the design, testing,
and implementation process.
The system involves various technologies, and each will be addressed with
corresponding background information to allow the reader insight as to the justification
of the design decisions.
The development of the ultrasonic positioning system started with the solution of
the general problem of position determination. The system was composed of a host agent
with several client agents. There were two methods that were used for determining the
orientation and range of the host agent relative to the client agents. The first method was
the “difference in time of flight” of the ultrasonic signal. The second method was a
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combination of the “difference in time of flight” and the “time of flight” methods. The
two methods were implemented in hardware and tested.
The results from the DTOF experiments showed that the method provided relative
position solutions of ~±4 feet at a 20 foot range. These results verified the validity of the
DTOF method for relative positioning but lacked practical applicability. The combined
DTOF/TOF method produced relative position solutions of ~5 inches at a 20 foot range.
This method provided the accuracy necessary for multiple vehicle system
implementation.
The DTOF/TOF hardware was implemented on two experimental ground vehicle
platforms. Following control was developed and implemented using the ultrasonic
positioning system. These experiments demonstrated the capability and applicability of
the ultrasonic positioning system for a multiple vehicle system.
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CHAPTER 1 INTRODUCTION
CIMAR Background
Personnel at the Center for Intelligent Machines and Robotics (CIMAR) have
performed extensive research involving several areas of Autonomous Ground Vehicle
systems. Some areas that have been researched in the past have been autonomous vehicle
controls, autonomous navigation, positioning systems, path planning, environment
perception, and sensor processing. In the area of position systems, various systems have
been used for the determination of vehicle position and orientation.
Concept Foundation
Vehicle position can be used for various purposes in Autonomous Ground
Vehicle research. Knowledge of the location and orientation of a vehicle provides
vehicle state information, which can be utilized by numerous algorithms. This
information can be used to improve overall vehicle functionality. This information can
allow an autonomous agent to map relative features such as obstacles to a global
reference frame. This allows map building and environment knowledge to be extended
past the range of the local sensors. Tasks such as sensor fusion for environment
perception and mapping, vehicle control, path planning, and following can be performed
when global pose information is available.
Extensive research has been performed utilizing expensive positioning equipment.
There exists a need to harness the power of a small number of expensive positioning
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sensors in a multiple agent system to allow their information to be shared by other
vehicles.
This concept forms the basis for the ultrasonic positioning system that is
developed here. This system would not provide Global Position solutions in its isolated
form, but provide accurate Global Positioning solutions to an entire multiple vehicle
system when coupled with more expensive hardware. This would provide Global
Position solutions at a fraction of the price of equipping each vehicle with the necessary
hardware to attain similar position solutions.
The ultrasonic positioning system can also be used to provide relative vehicle
information. The system would provide slave systems with relative position information
with respect to the master system. In a multi-agent system, this positioning system would
provide information necessary for distributed control strategies.
Position System Dependence
The research that has been performed previously at CIMAR in the areas of path
planning/execution and vehicle control has emphasized the requirement of having
accurate position information. Previous researchers have formed a solid foundation on
position reliance. In conjunction with previous efforts the ultrasonic positioning system
seeks to provide multiple position solutions and the ability for the next generation of
vehicles to be scaled yet operate under similar foundation principles.
A proposed multiple vehicle system would consist of a larger vehicle with a
formation of smaller, less expensive vehicles at the periphery (Figure 1.1). This type of
system would be beneficial in areas where sensor data is to be collected in areas where
the larger vehicle either physically cannot enter or it is too dangerous to travel. The
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smaller vehicles would provide less costly agents that could explore and cover larger
areas faster than a single vehicle.
Fig. 1.1: Multiple Vehicle System
Problem Definition
One objective for this research would be to develop a system that utilizes
expensive hardware on a host agent for the use of the overall Multiple Agent system.
The general problem can be reduced to solving for the global pose of the client agent
using the global pose of the host agent and the ultrasonic positioning system Hardware.
The result was a system that could provide position and orientation solutions for
every entity within the Multiple Agent system. Although there are several hardware
systems involved in providing the position solution, the system would operate
transparently and appear as if each vehicle had its own independent position system.
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CHAPTER 2 POSITION SYSTEMS BACKGROUND
This chapter will present background information about several position systems
that are conventionally used for autonomous ground vehicle navigation. Position and
orientation information can be relative or global. The knowledge of the global or relative
orientation and position of a vehicle provides the ability to create advanced control
strategies and can be used to improve the overall perception of a vehicle’s environment.
GPS
Introduction
Global Position Systems are widely becoming the position system of choice for
autonomous navigation. This technology allows for an agent to determine its location
using broadcasted signals from satellites overhead. The Global Positioning System
associated with the United States is maintained by the Department of Defense to provide
a positioning service for use by the US military [5]. Since its creation, the service has
been used for commercial purposes such as nautical, aeronautical, and ground based
navigation, and land surveying. The current US based GPS satellite constellation system
consists of a 24-satellite system. The number of satellites for this system can vary due to
satellites being taken in and out of service. Other countries are leading efforts to develop
alternative satellite systems for their own GPS systems. A similar GPS systems is the
GLONASS constructed by Russia [5]. Each satellite maintains its own specific orbit and
circumnavigates earth once every 12 hours. The orbit of each satellite is timed and
coordinated so that five to eight satellites are above the horizon of any location on the
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surface of earth at any time. Figure 2.1 illustrates the manner by which an autonomous
vehicle determines its’ position using GPS.
Fig. 2.1: Global Position System Illustration
Position Solution
A GPS receiver calculates position by first receiving the microwave RF signals
broadcast by each visible satellite [5]. The signals broadcasted by the satellites are
complex high frequency signals with encoded binary information. The encoded binary
data contains a large amount of information but mainly contains information about the
time that the data was sent and location of the satellite in orbit. The GPS receiver
processes this information to solve for its position and current time.
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Accuracy and Update Rate
GPS receivers typically provide position solutions at 1Hz but GPS receivers can
be purchased that output position solutions up to 20Hz. The accuracy of a commercial
GPS system without any augmentation is approximately 15 meters [8]. Differential GPS
is an alternative method by which GPS signals from multiple receivers can be used to
obtain higher accuracy position solutions. Differential GPS operates by placing a
specialized GPS receiver in a known location and measuring the errors in the position
solution and the associated satellite data. The information is then broadcast in the form
of correction data so that other GPS receivers in the area can calculate a more accurate
position solution. This system is based on the fact that there are inherent delays as the
satellite signals are transmitted through the atmosphere. Localized atmospheric
conditions cause the satellite signals within that area to have the same delays. By
calculating and broadcasting the correction values for each visible satellite the differential
GPS system can attain accuracy from 1mm to 1cm [5].
Recently a new type of GPS correction system has been integrated so that a land
based correction signal is not required to improve position solutions. The Wide Area
Augmentation System sends localized correction signals from orbiting satellites [7].
Currently this system only covers most of North America. This type of system has been
used in our research and position solutions with errors of less than three meters have been
observed.
Beacon Based Position Systems
This type of position system is based on determining the position of a mobile
agent by actively or passively communicating with devices in the environment. These
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devices can range from RF and ultrasonic transmitters to signal reflectors similar to those
used for Radar. This system typically relies on knowledge of beacon positions apriori.
With an accurate world map of the locations of the various beacons in the environment, a
mobile agent can calculate its’ position and orientation by using the perceived geometric
relationship between the beacons.
Shown below in Figure 2.2 is an illustration of a typical beacon configuration for
determining the position and orientation of a mobile agent. GPS is a form of space based
beacon position system. Typically an autonomous agent determines the distances and or
angles from its position and orientation to the specified beacon and combines this
information with that of other beacons. Beacon based position systems can be used for
many types of navigation but have limitations dependent on their configurations.
Historically, aircraft used to perform navigation by receiving land based beacon signals
[4]. Each beacon had a specific broadcast frequency. An aircraft would tune into the
broadcast frequencies of the beacons located at the departure and arrival destinations.
Using the information derived from relative angles of the beacons, an aircraft could
maintain a direct flight path. This system caused problems due to the constraint and
inefficiency of direct flight paths. This system also required large numbers of beacons to
be placed across the country to accommodate typical flight paths. The system also
presented problems when traveling across large oceans where intermediate beacons could
not be placed.
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Fig. 2.2: Beacon Based Positioning for Aircraft
Landmark Based Position Systems
This form of position system can loosely be described as a system that utilizes the
characteristics of a single feature or multiple features of the environment to determine
pose information about the respective mobile agent. The key to landmark based
positioning is being able to identify and isolate landmarks or spatial features from the
sensor data. Landmark based positioning has been performed previously using
panoramic image data. [28] This research utilized panoramic image data for local and
global position determination. Landmarks have been used for navigation for hundreds of
years. This method provides a basis by which autonomous agents can use their
perception of the environment for position determination. Figure 2.3 illustrates the use of
doorways in an office building for landmarks to determine vehicle position.
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Fig. 2.3: Indoor Landmark Positioning Illustration
The most difficult task for landmark based positioning is being able to process
sensor data by extracting and recognizing known environmental features. These features
can vary depending on the environment. Indoor navigation can use landmarks such as
doors, office furniture, and windows. Previous researchers have used reflective strips
located strategically throughout a building that could be scanned by the laser of an
autonomous agent [14]. An autonomous agent can determine position and orientation
based on the known locations of each barcode and the relative location of locally
perceived barcodes. When landmarks cannot be individually identified, the relative
location of multiple landmarks can be used to determine position and orientation. This
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can be accomplished by comparing the combined landmark location and orientation
information with a database of all known landmarks.
Dead Reckoning
Dead Reckoning is another common method by which an autonomous agent can
perceive its position and orientation. There are several types of sensors that can be used
to perform Dead Reckoning. These sensors can vary depending on what physical
properties they measure. A common sensor used for autonomous ground vehicles are
optical encoders. These sensors measure angular displacement due to rotation of wheels
or tracks used for propulsion. Figure 2.4 shown below is a picture of an incremental
encoder manufactured by BEI Technologies Incorporated.
Fig. 2.4: Incremental Encoder
Optical encoders can be classed as either incremental or absolute encoders.
Incremental encoders produce a specific number of electric signal pulses every time they
complete a full angular rotation. Some incremental encoders also generate these electric
signals in such a way that the pulses and direction of rotation can be determined.
Absolute encoders generally only operate within one shaft revolution. These encoders
generally have a data bus that has a binary code mapped to every shaft angle. The
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resolution of the encoder dictates the size of the binary code required to encompass all
angles within the scope of the encoder. The use of an encoder can provide angular
position, velocity, and acceleration information.
These sensors can be used to determine the motion of a vehicle by translating the
rotational information of the prime mover to the linear translation of the vehicle body.
These sensors provide information about the motion of the vehicle over a short period of
time but they are plagued by the accumulation of errors over long periods of time.
Position errors occur due mainly to wheel slippage. This occurs when there exists a
difference between the theoretical motion caused by the wheels or tracks of a vehicle and
the overall motion of the vehicle. Over a short period of time the position solution is
tolerant to these small errors but over time the position solution become more dependent
on previous position measurements and the errors accumulate dramatically.
Another type of commonly used dead reckoning sensor is a digital compass.
These devices use the Earth’s magnetic field to calculate the orientation of the
autonomous vehicle. These devices measure the local magnetic field around the vehicle
and output resulting heading information. These devices are typically augmented with a
tilt sensor to compensate for situations when the sensor is not oriented perfectly
horizontal to the surface of the Earth. Shown in Figure 2.5 is a digital compass
manufactured by Precision Navigation Incorporated.
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Fig. 2.5: Precision Navigation Inc. Digital Compass
Inertial Measurement Units or IMUs are another form of dead-reckoning device
commonly used in robotics [12,13,21]. These devices measure the acceleration of the
motion of the mobile agent. This information can be integrated to provide velocity and
position information. These devices can also be used to measure the local gravity vector,
which can be used in calculating the orientation of the vehicle. These systems have
similar problems with error propagation as wheel or track encoders. When deriving
position based on the accumulated past motions of the vehicle, position solutions tend to
accumulate errors over long periods of time.
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CHAPTER 3 ULTRASONICS BACKGROUND
Ultrasonic systems have been used previously in robotics research for position
and orientation determination [1,2,11,13,16,17,18,19,26,27,29]. The systems discussed
in these references vary in their sensor configurations yet all rely on the properties of
ultrasonic wave propagation through air. Solutions have been developed where the
Time-of-Flight, and Differences in the Time-of-Flight of the ultrasonic waveform are
used for position and orientation determination. Both systems have advantages and
disadvantage depending on the particular application.
Ultrasonic Ranging Systems
Typical ultrasonic Ranging systems operate by using sensors composed of either a
transmitter/receiver pair or a single transducer. The systems operate by using the
inherent wave propagation properties of the selected medium. The range determination
process consists of creating the ultrasonic wave, receiving the ultrasonic wave, and
calculating the time difference between transmitting and receiving the ultrasonic signal.
A transducer is different from a transmitter/receiver pair in that the same surface is used
to create and receive the ultrasonic waves.
Transmitting Ultrasonic Waves
The transmitter or transducer is composed of electromechanical components.
When transmitting, an electrical signal is supplied to the sensor. The internal
components of the sensor convert the electrical signal to a physical form and activate an
open medium surface. This oscillating physical surface creates the ultrasonic Waves.
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The oscillating surface creates a pressure variation and ultimately a pressure wave with a
frequency equal to that of the surface oscillation. Figure 3.1 illustrates the method by
which the ultrasonic signal is generated.
Fig. 3.1: Ultrasonic Transmitter
Receiving Ultrasonic Waves
The pressure wave travels outward from the transmitter surface until it encounters
a physical surface. To simplify the discussion, assume that the transmitter surface and
reflection surface are flat, inline, and parallel. The pressure waves then are reflected back
in the opposite direction until they reach the receiver/transducer surface. Figure 3.2
illustrates the method by which ultrasonic waves are reflected and processed.
Fig. 3.2: Illustration of Reflected Ultrasonic Signal
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Ultrasonic Ranging Configurations
For typical ranging applications, there exist two configurations for transmitting
and receiving ultrasonic signals. The typical inexpensive ranging system configurations
consist of a paired transmitter and receiver [6]. In this configuration the ultrasonic signal
is produced by the transmitter and associated circuitry. The ultrasonic signal is then
received by a separate receiving device and circuitry. For this configuration the
transmitter surface and the receiver surface are separate. This configuration is illustrated
in Figure 3.3.
Fig. 3.3: Illustration of Transmitter/Receiver Pair
The second configuration consists of a system with separate transmitter and
receiver circuitry yet with a common sensor surface [23]. The device used by this type of
system is referred to as a transceiver due to its ability to transmit and receive ultrasonic
signals. These devices are generally more expensive than the transmitter/receiver pairs
and require different circuitry to be able to transmit and receive on the same line. Figure
3.4 illustrates the transceiver configuration.
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Fig. 3.4: Illustration of Transceiver Configuration
Types of Ultrasonic Sensors
The three categories of ultrasonic sensors are transmitters, receivers, and
transceivers. There is another feature of ultrasonic sensors that distinguish each other
besides the specified categories. Most common ultrasonic sensors can be further
separated into two groups depending on the physical construction of the sensor and the
way by which the sensor converts back and forth from electrical signals to acoustic
signals. The most common types of ultrasonic sensors consist of Electrostatic and
Piezoelectric sensors.
Electrostatic Ultrasonic Sensors
Electrostatic ultrasonic sensors operate similar to an electrical capacitor. These
sensors usually are composed of a fixed conductive plate and a free metallic surface
coated with a layer of insulation that separates the two plates. When an electric potential
is placed across the fixed conductive plate, the free metallic surface is pulled against the
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fixed plate. When an oscillating electrical potential is applied to the fixed plate, the free
plate oscillates at a similar frequency thereby creating acoustic pressure waves. When
receiving an ultrasonic signal, the Electrostatic ultrasonic sensors produce a varying
capacitance created by the pressure waves hitting the free metallic surface. Figure 3.5 is
an example of several Electrostatic ultrasonic sensors manufactured by Polaroid Corp.
Fig. 3.5: Polaroid Electrostatic Transducers
Piezoelectric Ultrasonic Sensors
Piezoelectric ultrasonic Sensors are composed of a Piezo material and an acoustic
surface. The Piezo material can either be a crystal or ceramic. The Piezo material is
attached to the acoustic surface such that any physical changes in the geometry of the
material will affect the acoustic surface. When an electrical potential is placed across the
Piezo material the geometry changes thereby disturbing the acoustic surface. When an
oscillating electrical potential is placed across the Piezo material, the acoustic surface
generates an acoustic signal. When receiving an ultrasonic signal, the ultrasonic waves
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strike the acoustic surface thereby compressing the Piezo material. The Piezo material
emits electrons when compressed thereby creating an electrical signal. Figure 3.6 shows
a Piezoelectric ultrasonic Transducer manufactured by Polaroid Corp.
Fig. 3.6: Polaroid Piezoelectric Ultrasonic Transducer
The main difference between the operation of these particular Electrostatic
ultrasonic sensors and the Piezoelectric ultrasonic sensors is the ability to measure an
ultrasonic signal from the sensor with or without external circuitry. The Electrostatic
sensor requires a 200 Volt potential across the sensor while measuring the ultrasonic
signal whereas the piezoelectric sensor can generate its own signal. This is important
when dealing with passive sensors that are used solely for listening.
Speed of Sound
To measure range using ultrasonic sensors, generally the time is measured
between the transmission and reception of the ultrasonic signal. The ultrasonic pulse
travels at a relatively constant speed through the air. By multiplying this physical
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constant by the flight time of the ultrasonic pulse, the total distance traveled by the
ultrasonic pulse can be determined. This constant speed is the speed of sound though air
at the current air temperature. [25] defines the speed of sound at a particular temperature
as shown in Equation 3.1.
273T1CC 0T += Eq. 3.1
where:
CT = speed of sound at specified temperature
C0 = speed of sound at 0° C
T = temperature in degrees C
Typically the air temperature is the main factor determining the propagation speed
of sound. When using ultrasonic sensors other factors such as air turbulence, convective
currents, atmospheric pressure, and humidity have slight affects in sensor readings. For
most testing environments, the other factors can be ignored and the speed of sound can be
determined solely from air temperature.
Acoustic Interference
Range measurements derived from ultrasonic signals can be affected by acoustic
interference. The measurements will be affected when the environmental acoustic noise
has similar frequency to that of the ultrasonic signal frequency. This causes problems by
preventing the measurement hardware from distinguishing between the ultrasonic signal
and the background noise. This noise can cause the system to become inoperable in the
environment or induce random error in the measurement readings. Careful consideration
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must be made if the environment contains noise with frequency content around that of the
ultrasonic equipment.
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CHAPTER 4 DIFFERENCE IN TIME OF FLIGHT
This chapter will describe a method by which the orientation and range of an
ultrasonic emitter relative to a linear array of ultrasonic receivers can be obtained.
Previous research [16] performed at the University of Florida involved ultrasonic
positioning systems that used time of flight methods. These methods assumed that the
time that the ultrasonic emitters were fired was known. The Difference in Time of Flight
method was developed to investigate the passive method of determining position using
only the ultrasonic pulse sent from the emitter.
Linear arrays of sensors are commonly used for RF and Sonar applications.
Signal processing for passive sonar arrays allow for spectral and spatial information to be
determined from an emitter source [10].
Concept Fundamentals
The difference in time of flight derivation is based on determining the two
dimensional position of an ultrasonic emitter relative to a three element linear array of
ultrasonic receivers. The basis of the DTOF derivation is the Pythagorean theorem. The
derivation references the diagram shown in Figure 4.1.
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Fig. 4.1: Diagram of DTOF Configuration
where:
ri = distance from ultrasonic emitter to receiver i
a = receiver array separation distance
The diagram defines several quantities that are used for the DTOF derivation.
Foundation Equations
The derivation is based on the following three equations relating ri with the x and
y coordinates of the ultrasonic emitter:
2221 yxr += , Eq. 4.1
2222 y)ax(r ++= , Eq. 4.2
2223 y)ax(r +−= . Eq. 4.3
The terms ∆r12 and ∆r13 are defined as
2112 rrr −=∆ , Eq. 4.4
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3113 rrr −=∆ Eq. 4.5
and equations 4.2 and 4.3 can be re-expressed as
222121 y)ax()rr( ++=∆− , Eq. 4.6
222131 y)ax()rr( +−=∆− . Eq. 4.7
Utilizing the difference in time of flight of the ultrasonic pulse, the quantities ∆r12
and ∆r13 can be obtained. Equations 4.1, 4.6, and 4.7 are now in terms of the three
unknowns r1, x, and y. Subtracting equation 4.1 from equation 4.6 yields
2221
2121 x)ax(r)rr( −+=−∆− . Eq 4.8
Expanding and regrouping this equation gives
2212121 aax2rrr2 +=∆+∆− , Eq. 4.9
212
2121 rarr2ax2 ∆+−=∆+ . Eq. 4.10
Subtracting equation 4.1 from equation 4.7 yields
2221
2131 x)ax(r)rr( −−=−∆− . Eq. 4.11
Expanding and regrouping this equation gives
2213131 aax2rrr2 +−=∆+∆− , Eq. 4.12
213
2131 rarr2ax2 ∆−=∆− . Eq. 4.13
Equations 4.10 and 4.13 now form two linear equations in terms of the unknowns
r1 and x. These two equations can be written in matrix form as
∆−∆+−
=
∆−∆
213
2
212
2
113
12
rara
rx
r2a2r2a2
. Eq. 4.14
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Solving for r1 and x yields
)rr(2a2rrr
1312
2213
212
1 ∆+∆−∆+∆
= , Eq. 4.15
a4
)rr(rr
a2rrrrx
13121312
2213
2122
132
12 ∆−∆
∆+∆−∆+∆
−∆−∆= Eq. 4.16
With explicit equations for x and r1, y can be calculated by using Eq. 4.1 as
221 xry −±= Eq. 4.17
This equation leaves some ambiguity about the sign of the y component of the
emitter position. This is caused by geometry chosen for the receiver array and the
assumption that the receivers are omni-directional. This problem is remedied when the
system is implemented in hardware.
Solution Verification
To verify that the equations are valid for emitter placement within the first two
quadrants of the Cartesian coordinate system, the emitter coordinates were selected as
shown in Figure 4.2.
Emitter x and y Coordinates
0
0.5
1
1.5
2
2.5
3
3.5
-3 -2 -1 0 1 2 3x
y
Fig. 4.2: Emitter Verification Coordinates
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The coordinates were used to calculate r1, ∆r12, and ∆r13 assuming a=1 and
positive y values. The values for x, y, and r1 were back calculated using the derived
equations 4.15, 4.16, and 4.17. The results obtained showed that the actual and
calculated values for x, y, and r1 matched exactly. The results for the above calculation
are listed in Appendix A.
Solution Singularities
When constrained to the first two quadrants in the Cartesian coordinate system,
equations 4.15 and 4.16 can provide unique solutions for r1 and x except for when y=0
and |x|>a. When y=0 the emitter is located along the x-axis. As an example, if the
emitter’s x coordinate is positive, the terms ∆r12 = -a and ∆r13 = a. This causes a
singularity in the position solution of the emitter where the solutions for r1 and x become
indeterminate as follows:
00
)aa(2a2aar
222
1 =+−−+
= , Eq. 4.18
00
a4
)aa(aa
a2aaaax
22222
=−−
+−−+
−−= . Eq. 4.19
Upon analysis of the singularity it has been observed that when y=0 and |x|>a any
change in either x or r1 causes no change in ∆r12 or ∆r13. This becomes the limiting factor
for this array geometry. The matrix equation 4.14 can be visualized as two lines in the x
and r1 plane. The intersection of these two lines defines the position solution of the
emitter. The equations of the two lines can be written as
12
212
2
1 r2ax2rar
∆−∆+−
= Eq. 4.20
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13
213
2
1 r2ax2rar
∆+∆+−
= Eq. 4.21
Figure 4.3 displays the plot of equations 4.20 and 4.21 for a sample emitter
position (x=0, y=3) assuming a=1.
r1 versus x for Emitter Position (x=0, y=3)
-20
-15
-10
-5
0
5
10
15
20
25
-4 -3 -2 -1 0 1 2 3 4
r1
x
Eq. 4.20Eq. 4.21
Fig. 4.3: Plot of Eq. 4.20 and 4.21 in r1 versus x plane
When y=0 and |x|>a, a singularity is reached and there is no unique solution for x
and r1 that satisfy the given ∆r12 and ∆r13. Figure 4.4 displays a plot of equations 4.20
and 4.21 for a sample emitter position (x=0, y=3) assuming a=1.
r1 versus x for Emitter Position (x=3, y=0)
-4
-3
-2
-1
0
1
2
3
4
-4 -3 -2 -1 0 1 2 3 4
x
r1
Eq. 4.20Eq. 4.21
Fig. 4.4: Plot of Eq. 4.20 and 4.21 in r1 versus x plane
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Figure 4.4 shows that the two lines are coincident. This implies that the two lines
are also linearly dependent. For further analysis a unitized quality index was derived to
quantify the linear dependence of Eq. 4.20 and 4.21 for all points in the first two
quadrants of the Cartesian coordinate system. The quality index is defined as Q where
13
12
11
Q∆−∆
= Eq. 4.22
and where
∆ij = ∆rij / a . Eq. 4.23
This quality index established a method for determining the strength of a position
solution for different regions of the input space. Figure 4.5 shows a plot of the quality
index for various points on the y/a versus x/a plane.
Fig. 4.5: Plot of the Quality Index in the y/a versus x/a plane
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To illustrate the quality of specific regions of the input space, two dimensional
plots were created to show the quality index for specific cases. Figure 4.6 shows a plot of
the quality index for x/a=0. Figure 4.7 shows a plot of the quality index for y/a=0.
Quality Index verus y/a
0
0.5
1
1.5
2
2.5
0 2 4 6 8 10y/a
Q
Fig. 4.6: Quality Index for x/a=0
Quality Index versus x/a
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
-5 -3 -1 1 3 5x/a
Q
Fig. 4.7: Quality Index for y/a=0
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The figures show that as the emitter is placed farther from the center receiver, the
quality index decreases. For the case when y=0, the quality index drops to zeros at |x|=a.
This implies that the strongest solution at ranges greater than the array separation occur
when the emitter is located such that the path from the emitter to the center receiver is
perpendicular to the receiver array.
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CHAPTER 5 INITIAL PROTOTYPE DESIGN
This chapter will present the design process used and explain the hardware and
software used to develop the initial prototype system. The basic system specifications
were established before the system was designed. It was estimated that the system should
be able to output position solutions at a rate greater than 1 Hz, which has been a standard
for most of the positioning systems that have been used at the University of Florida for
autonomous vehicle navigation in the past. The system was to provide the highest
resolution attainable with considerations made for increased cost versus resolution.
Prototype Construction
The operating principles of this prototype rely on the Difference in Time-of-
Flight method discussed earlier. The prototype was designed to test the DTOF concept
and to test the resolution of initial circuit designs. The prototype consisted of a Motorola
68HC11 microprocessor, an RC servomotor, and ultrasonic signal processing circuitry.
Figure 5.1 shows an outline of the overall hardware configurations.
Fig 5.1: Initial Prototype System Circuitry Overview
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The signal processing circuitry consisted of an analog front-end that filtered and
amplified the signal, and digital threshold circuitry. This combination allowed the signal
to be converted from three analog signals to three binary signals. The binary signals were
processed by the microcontroller and a time stamp was associated with the intercept of
the ultrasonic signal by the three receivers.
The microcontroller processed the time stamps for each signal, which was then
sent to the Host PC. The Host PC processed the data and calculated the position solution.
The prototype addressed the issues of the symmetry of the DTOF solution and the
existence of singularities. The symmetry was addressed by the very nature of the
ultrasonic sensors that were used. The response of the ultrasonic sensors was very
directional in nature allowing for the solution to be known a priori that if an intercept
occurred that the solution exists in the positive y region where the sensors are facing.
The RC servomotor addressed the singularities by orienting the linear array perpendicular
to the incoming signal. This solved the singularity issue and the problems with the
directional nature of the sensors. By orienting the sensors towards the ultrasonic
transmitter, the system maximized the signal strength and the solution quality. Figure 5.2
shows the initial prototype fully constructed.
Fig. 5.2: Initial Prototype
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Prototype Testing Results
Establishing Proof of Concept
The purpose of the initial testing was to obtain results verifying the validity of the
DTOF method. The first tests were conducted with an array separation a=3 inches. The
emitter was placed perpendicular to the overall frame of the system at a range of five feet.
Figure 5.3 shows a diagram of the testing configuration used for the initial prototype.
Fig. 5.3: Initial Testing Configuration
Figure 5.4 shows the calculated range of an emitter using the DTOF method.
Calculated Range versus Sample Number
-400.00
-200.00
0.00
200.00
400.00
600.00
800.00
1000.00
1200.00
1400.00
1 11 21 31 41 51 61 71 81 91 101
111
121
131
141
151
Sample Number
Ran
ge (i
n)
Fig. 5.4: Calculated Range using DTOF method
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In this figure the x-axis represents the sample number and the y-axis represents
the estimated range in inches. The transient in the starting samples is due to the fact that
the array was not initially facing the ultrasonic transmitter and the RC servomotor had to
orient the array to the transmitter. The average was calculated to be 106.63 inches, with a
standard deviation of 224.57 inches. The data shows that the solution does produce
viable results but the resolution and accuracy of the solution was not useful for our
applications. Figure 5.5 shows the calculated x coordinate of the ultrasonic emitter using
the DTOF method.
Calculated x versus Sample Number
-30.00
-20.00
-10.00
0.00
10.00
20.00
30.00
40.00
50.00
1 10 19 28 37 46 55 64 73 82 91 100
109
118
127
136
145
Sample Number
x (in
)
Fig. 5.5: Calculated x using DTOF method
The results for the calculated x value of the ultrasonic emitter were promising.
The range results had significant noise but followed a general trend towards the actual
range value. The calculated x values followed the actual value closely with a few
sporadic readings.
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Improving Prototype Configuration
It was found that the DTOF method is highly dependent on the R/a ratio were R is
the distance of the ultrasonic transmitter to the center of the ultrasonic Receiver array and
a was the receiver array spacing. As the R/a ratio increases, the resolution of the solution
is more dependent on the resolution of the time stamp and exact sensor intercept times.
Errors introduced by the resolution of the time stamp and delays in the analog circuitry
affect the solution greater as the R/a ratio increases. This implies that the DTOF method
is ideal in applications were there is a good balance between resolution and accuracy of
the ultrasonic signal hardware and the maximum range/array spacing ratio.
To prove this point further, the prototype was modified so that the array
separation was now 12 inches. The experiments were conducted again at 10, 15, and 20
foot ranges. In this setup the array was fixed to a platform and the ultrasonic transmitter
was placed perpendicular to the array and at the specified range. Figure 5.6 shows the
calculated range results for the 10-foot testing setup. Figure 5.7 shows the calculated x
coordinate of the ultrasonic emitter for the 10-foot testing setup.
Figure 5.8 shows the calculated range results for the 15-foot testing setup. Figure
5.9 shows the calculated x coordinate of the ultrasonic emitter for the 15-foot testing
setup.
The data for the x position of the ultrasonic emitter shown in the previous figure
indicates a significant constant offset. This can be attributed to misalignment of the
receiver array during testing. Figure 5.10 shows the calculated range results for the 20-
foot testing setup. Figure 5.11 shows the calculated x coordinate of the ultrasonic emitter
for the 20-foot testing setup.
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Calculated range versus Sample Number
108.00
110.00
112.00
114.00
116.00
118.00
120.00
122.00
1 51 101 151 201 251 301 351 401 451 501
Sample Number
Ran
ge (i
n)
Fig. 5.6: Calculated Range for the Initial Prototype at r1=10 feet
Calculated x versus Sample Number
-0.90
-0.80
-0.70
-0.60
-0.50
-0.40
-0.30
-0.20
1 51 101 151 201 251 301 351 401 451 501Sample Number
x (in
)
Fig. 5.7: Calculated x for Initial Prototype at r1=10 feet
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Calculated Range versus Sample Number
125.00
145.00
165.00
185.00
205.00
225.00
245.00
265.00
285.00
1 51 101 151 201 251 301 351 401 451 501
Sample Number
Rang
e (in
)
Fig. 5.8: Calculated Range for the Initial Prototype at r1=15 feet
Calculated x versus Sample Number
-9.00
-8.50
-8.00
-7.50
-7.00
-6.50
-6.00
-5.50
-5.00
-4.50
-4.00
1 51 101 151 201 251 301 351 401 451 501Sample Number
x (in
)
Fig. 5.9: Calculated x for the Initial Prototype at r1=15 feet
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Calculated Range versus Sample Number
150.00
170.00
190.00
210.00
230.00
250.00
270.00
290.00
1 51 101 151 201 251 301 351 401 451 501
Sample Number
Ran
ge (i
n)
Fig. 5.10: Calculated Range for the Initial Prototype at r1=20 feet
Calculated x versus Sample Number
-1.50
-1.00
-0.50
0.00
0.50
1.00
1.50
1 51 101 151 201 251 301 351 401 451 501
Sample Number
x (in
)
Fig. 5.11: Calculated Range for the Initial Prototype at r1=20 feet
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The results from these three experiments verified that the DTOF method could be
implemented in a real system. The results showed that the accuracy for the range
degraded as the range was increased. This verified the validity of the R/a discussion
earlier. The results for the x coordinate of the ultrasonic emitter were extremely
promising. The results showed that the calculated x coordinate data did not vary more
than ±2 inches over the course of the entire testing ranges.
These experiments verified the foundation equations of the DTOF method and
also brought about several observations. It was observed that the R/a ratio had a
significant effect on the accuracy of range calculations. It was also observed that the
accuracy of the range calculations were not within tolerable levels at r1=20 feet. The
accuracy of the x coordinate calculations were very promising even at r1=20 feet. This
implies that the DTOF method is more appropriate for calculating the x coordinate of the
ultrasonic emitter versus calculating the range.
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CHAPTER 6 FINAL PROTOTYPE
The initial prototype established the foundation for determining the relative
position of the ultrasonic emitter with respect to the ultrasonic receiver array. This
method was developed such that the relative position could be determined without
knowledge of the actual time at which the ultrasonic pulse was generated. The initial
prototype produced relative position solutions with accuracies of ~±2 feet for the 20 foot
range tests. Although the error seemed high for the working area envelop, the accuracy
of the calculated x position was on the order of inches for the 20 foot range tests. This
implied that the DTOF method was very good at determining the x coordinate of the
ultrasonic emitter yet there existed significant error for the range calculation.
To improve the overall position solution, it was desired to improve the range
calculation. Introducing the knowledge of the actual time at which the ultrasonic pulse
was generated could improve range calculations. Improving the range calculation
accuracy using the DTOF method required improving the accuracy of the determining
intercept time. This would involve more expensive circuitry and a significant amount of
additional experimentation. It was desired to find a solution that would provide improved
range measurements without extensive redesign of the system circuitry. [16] involved
measuring the exact time the ultrasonic pulse was generated by using Infrared
transmitters and receivers. The system operated by transmitting an Infrared signal at the
same time as the ultrasonic pulse. Assuming that the time that it took for the Infrared
signal to travel was insignificant due to the speed of light, the actual time that the
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ultrasonic pulse was sent could be determined. This allowed for the time of flight of the
ultrasonic pulse to be easily calculated.
There existed several problems with the Infrared system. Due to the high Infrared
spectral content of sunlight, the Infrared system was inoperable in regular to high sunlight
levels. The Infrared system that was used was also highly directional requiring the
transmitter to be pointed directly at the receiver. Both of these issues were resolved by
using an RF transmitter and receiver pair. Using an omnidirectional antenna, the
transmitter sent an RF signal, which could be received in any direction. The RF signal
traveled at such a high velocity, the time of flight of the RF signal could be neglected.
This configuration allowed for highly accurate range measurements to be taken.
Combining this with the equations derived using the DTOF method; accurate
measurements for the x coordinate of the ultrasonic emitter could also be obtained.
Figure 6.1 shows a diagram of the overall TOF/DTOF system.
Fig. 6.1: Final Prototype System Overview
The system no longer required three ultrasonic emitters to produce the relative
position of the ultrasonic emitter. The system now used the RF transmitter and receiver
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along with two ultrasonic receivers to calculate the distance from the ultrasonic emitter to
each ultrasonic receiver. Figure 6.2 shows a diagram of the geometry of the time of
flight/difference in time of flight problem.
Fig. 6.2: Final Prototype Geometry
The emitter distances r1 and r2 can be calculated directly by scaling the time of
flight measurements. It thus remains to determine the location of the emitter whose
coordinates will be referred to as (x,y) in terms of the range distances r1 and r2 and the
separation distance a. The following two equations can be written
22
21 y
2axr +
−= , Eq. 6.1
22
22 y
2axr +
+= . Eq. 6.2
Subtracting equation 6.1 from equation 6.2 yields
222
12
2 2ax
2axrr
−−
+=− . Eq. 6.3
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Expanding this equation and regrouping yields
2 x a + r12 – r2
2 = 0 . Eq. 6.4
Solving for x gives
a2rrx
21
22 −
= . Eq. 6.5
Corresponding values for y2 can be obtained from either equation 6.1 or 6.2. Again, y is
double valued, but in this case the positive value can be assumed to be the correct
solution.
Experiments were conducted to measure the calculated range, i.e. 22 yx + , and
x coordinate of the ultrasonic emitter. The final prototype system was configured with
the same overall array size during the tests. To maintain the same overall array size, the
receivers were placed two feet apart. The ultrasonic emitter was placed perpendicular to
the receiver array and the tests were conducted at the same ranges as those of the DTOF
experiments. Figure 6.3 shows a diagram of the testing configuration for the final
prototype.
Fig. 6.3: Testing Configuration for Final Prototype
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Figure 6.4 shows the measured range of the ultrasonic emitter for a distance of 10
feet. Figure 6.5 shows the measured x coordinate of the ultrasonic emitter for a distance
of 10 feet.
Measured Range versus Sample Number
120.2
120.3
120.4
120.5
120.6
120.7
120.81
101
201
301
401
501
601
701
801
901
1001
1101
1201
1301
1401
1501
1601
1701
1801
1901
Sample Number
Rang
e (in
)
Fig. 6.4: Measured Range for the Final Prototype at r = 10 feet
Measured x versus Sample Number
0
0.5
1
1.5
2
2.5
3
3.5
4
1
101
201
301
401
501
601
701
801
901
1001
1101
1201
1301
1401
1501
1601
1701
1801
1901
Sample Number
x (in
)
Fig. 6.5: Measured x for the Final Prototype at r=10 feet
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Figure 6.6 shows the measured range of the ultrasonic emitter for a distance of 15
feet. Figure 6.7 shows the measured x coordinate of the ultrasonic emitter for a distance
of 15 feet.
Measured Range versus Sample Number
180.5
180.55
180.6
180.65
180.7
180.75
180.81
101
201
301
401
501
601
701
801
901
1001
1101
1201
1301
1401
1501
1601
1701
1801
1901
Sample Number
x (in
)
Fig. 6.6: Measured Range for the Final Prototype at r=15 feet
Measured x versus Sample Number
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0
0.5
110
120
130
140
150
160
1
701
801
901
1001
1101
1201
1301
1401
1501
1601
1701
1801
1901
Sample Number
x (in
)
Fig. 6.7: Measured x for the Final Prototype at r=15 feet
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Figure 6.8 shows the measured range of the ultrasonic emitter for a distance of 20
feet. Figure 6.9 shows the measured x coordinate of the ultrasonic emitter for a distance
of 20 feet.
Measured Range versus Sample Number
241
241.2
241.4
241.6
241.8
242
242.2
242.4
242.6
242.8
1
101
201
301
401
501
601
701
801
901
1001
1101
1201
1301
1401
1501
1601
1701
1801
1901
Sample Number
Rang
e (in
)
Fig. 6.8: Measured Range for the Final Prototype at r=20 feet
The results showed that the combined TOF/DTOF design had a significant
improvement in overall system performance compared with the DTOF design. The
addition of an inexpensive RF transmitter and receiver pair allowed for increased system
performance and a reduction in system complexity.
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Measured x versus Sample Number
-20
-10
0
10
20
30
40
1
101
201
301
401
501
601
701
801
901
1001
1101
1201
1301
1401
1501
1601
1701
1801
1901
Sample Number
x (in
)
Fig. 6.9: Measured x for the Final Prototype at r=20 feet
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CHAPTER 7 FINAL ULTRASONIC POSITIONING SYSTEM
Global Position Solution
The DTOF and TOF/DTOF prototypes have thus far only been able to measure
the relative range and orientation of the ultrasonic emitter with respect to the receiver
array. The two prototypes have solved the relative range and orientation problem but
have not solved the global position problem. The relative range and orientation of the
ultrasonic emitter to the receiver array cannot alone be used to calculate the global
position of the receiver array given the global position of the ultrasonic emitter. The
ultimate goal of the ultrasonic position system was to develop a system that could
determine the global position of the receiver array given the global position and
orientation of the ultrasonic emitter. Figure 7.1 shows a diagram of the overall ultrasonic
position system problem.
Fig. 7.1: Overall Ultrasonic Positioning System Diagram
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The diagram shown above assumes that the global orientation of the host vehicle
and the client vehicle are known. The problem is defined below.
Given:
• TF1 , the position and orientation of coordinate system 1 with respect to
the fixed coordinate system
• RF2 , the orientation of coordinate system 2 with respect to the fixed
coordinate system
• orig12 P , the coordinates of the origin of coordinate system 1 measured
with respect to coordinate system 2
Find:
• TF2 , the position and orientation of coordinate system 2 with respect to
the fixed coordinate system
The term TF1 and orig1
2 P are obtained from the orientation and position system
hardware located on the host vehicle. The term RF2 is obtained by a global orientation
sensor located onboard the client vehicle.
The coordinates of the origin of the first coordinate system are given in terms of
both the fixed and second coordinate systems. Thus it may be written that
origin12F
2origin1F PTP = Eq. 7.1
where:
[ ] [ ]
=
1000
PRT orig2
FF2F
2 Eq. 7.2
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origin1F P is known since TF
1 is given and therefore the only unknown in equation
7.2 is orig2F P , the origin of the second coordinate system as measured in the fixed
coordinate system. Equation 7.2 may be rewritten without using homogeneous
coordinates as
orig2F
orig12F
2origin1F PPRP += Eq. 7.3
Solving for orig2F P gives
orig12F
2orig1F
orig2F PRPP −= Eq. 7.4
This solution provides the equations to calculate the global position of the client
vehicle given the global orientation of the client vehicle, the global position of the host
vehicle, and the relative orientation provided by the ultrasonic software and hardware.
Complete Position System for Multiple Vehicle Control
In order to utilize the above equations, additional hardware was required for the
overall system. Digital compasses were added to the system to provide the global
orientation data. The ultrasonic receiver array was attached to a pan/tilt device so that the
angle of array could be controlled. The pan/tilt device contained potentiometers so that
the orientation could be measured. The figures below show the system implemented on
two mobile test vehicles. Figure 7.2 shows the Host system equipped with an ultrasonic
transmitter array, RF transmitter, and associated hardware. Figure 7.3 shows the Client
system equipped with the ultrasonic Receiver array, pan/tilt device, and associated
hardware.
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Fig. 7.2: Host Portion of the Ultrasonic Positioning System
Fig. 7.3: Client Portion of the Ultrasonic Positioning System
Indoor Testing
In order to evaluate the new system, measurements were taken with the host
system placed at specific distances from the client system. The client system would
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home the pan/tilt device and rotate the ultrasonic receiver array towards the ultrasonic
emitter. Figure 7.4 shows a diagram of the coordinate system for the client system.
Fig. 7.4: Coordinate system for Client System
Figure 7.5 shows the results for the host system placed along the +x direction
relative to the client system.
Calculated x versus y
-15
-10
-5
0
5
10
15
0 5 10 15 20 25 30x (ft)
y(ft)
5 feet10 feet15 feet20 feet25 feet
Fig. 7.5: Calculated Position of Host System Placed along +x direction
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Figure 7.6 shows the results for the host system placed along the +y direction
relative to the client system.
Calculated x versus y
0
5
10
15
20
25
30
-15 -10 -5 0 5 10 15x (ft)
y (ft
)
5 feet10 feet15 feet20 feet25 feet
Fig. 7.6: Calculated Position of Host System Placed along +y direction
Figure 7.7 shows the results for the host system placed along the -x direction
relative to the client system.
Figure 7.8 shows the results for the host system placed along the -y direction
relative to the client system.
When compared with the results from the array testing without the pan/tilt, there
is a significant amount of error introduced by the angle reading of the pan/tilt device.
Implementing a more accurate method such as an angular encoder for determining
angular position of the receiver array would reduce the error significantly for this system.
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Calculated x versus y
-15
-10
-5
0
5
10
15
-30 -25 -20 -15 -10 -5 0x (ft)
y (ft
)5 feet10 feet15 feet20 feet25 feet
Fig. 7.7: Calculated Position of Host System Placed along -x direction
Calculated x versus y
-30
-25
-20
-15
-10
-5
0-15 -10 -5 0 5 10 15
x (ft)
y (ft
)
5 feet10 feet15 feet20 feet25 feet
Fig. 7.8: Calculated Position of Host System Placed along -y direction
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The host and client systems were implemented onto a set of mobile ground
vehicle test platforms. Figure 7.9 shows the host vehicle with the associated ultrasonic
and RF transmitters and additional hardware. Figure 7.10 shows the client vehicle with
the ultrasonic receiver array hardware and the pan/tilt device.
Fig. 7.9 Ultrasonic Position System Host Vehicle
To demonstrate the ultrasonic position system implemented on a ground vehicle
system, the host and client systems were configured such that the client vehicle would
follow the host vehicle at a specific distance. Figure 7.11 illustrates the dynamic testing
for the ultrasonic position system.
Movies were recorded for multiple tests of the implemented ultrasonic position
system on the Host and Client vehicles. Although the control algorithm used for the
vehicle following using the ultrasonic positioning system was not complex it still
demonstrated the potential the ultrasonic position system and future research in this area.
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Fig. 7.10: Ultrasonic Position System Client Vehicle
Fig. 7.11: Following Control using the Ultrasonic Positioning System
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CHAPTER 8 CONCLUSIONS
Overview
The goal of the ultrasonic position system was to develop a system that could
provide global position solutions for a multiple vehicle system. This system would
utilize high precision positioning hardware located on the Host system. The information
would be shared between the Client systems in the group. The goal was for all of the
Client systems to determine their global position solution utilizing the ultrasonic position
system hardware along with the position information from the Host system. The system
was designed to be unaffected by an increase or decrease in Client vehicles within the
multiple vehicle system. The Host system was based on an omnidirectional ultrasonic
Transmitter array with associated hardware. The Client system was based on a
directional ultrasonic receiver array with associated hardware. The entire system was
built upon the capability of determining the relative range and orientation of the
ultrasonic emitter array with respect to the ultrasonic receiver array.
DTOF Versus TOF/DTOF Methods
The first part of the ultrasonic positioning system that needed to be established
was determining the relative positioning of the ultrasonic emitter array with respect to the
ultrasonic receiver array. Two methods were developed to achieve this capability. The
Difference in Time of Flight method calculated the relative range and orientation of the
ultrasonic emitter array with respect to the ultrasonic receiver array by using the
difference in the time at which each ultrasonic receiver intercepted the ultrasonic pulse
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sent by the ultrasonic emitter. This method did not require the knowledge of when the
ultrasonic pulse was sent. The results from the DTOF prototype were encouraging but
had significant error in the range calculations.
The final prototype utilized a combination of the DTOF and Time of Flight
methods. The addition of an RF transmitter and receiver pair allowed for the Client
system to know exactly when the ultrasonic pulse was fired. In this system, the Host
system would fire the RF transmitter and the ultrasonic emitter at the same time. The
Client system would receive the RF signal almost instantly and began timing the
ultrasonic signal. When the signal arrived, the relative orientation and position of the
Host system was calculated. When compared with the DTOF method, the TOF/DTOF
method provided a dramatic improvement in system performance requiring only the
addition of an RF transmitter and receiver pair.
Final Prototype
The final prototype was based on the TOF/DTOF method. The Host system
consisted of an RF transmitter, semi-omnidirectional ultrasonic emitter, and associated
hardware. The client system consisted of an ultrasonic receiver array, pan/tilt device, RF
receiver and associated hardware. The system operated by orienting the ultrasonic
receiver array perpendicular to the direction towards the ultrasonic emitter. This
maximized signal strength and provided the best position solutions. Figure 8.1 shows the
results of experiments where the ultrasonic emitter was placed at different ranges and
orientations with respect to the Client base platform.
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Calculated x versus y
-30
-20
-10
0
10
20
30
-30 -20 -10 0 10 20 30
x (ft)
y (ft
)
Fig. 8.1: Calculated x versus y for Ultrasonic Emitter Placed along Different Axes
Figure 8.2 shows the Host and Client system hardware.
Fig. 8.2: Host and Client hardware for Final Prototype
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Multiple Vehicle Control
The Host and Client hardware were implemented on two research ground vehicle
platforms. Control software was written to enable the Client vehicle to follow the Host
vehicle at a specific distance. Movies were taken of the multiple vehicle system, which
demonstrated the preliminary capability of the ultrasonic position system. Figure 8.3
shows the Host and Client vehicle with the implemented ultrasonic position system
hardware.
Fig. 8.3: Host and Client Vehicle with Ultrasonic Position System
In conclusion, this research has investigated and implemented the DTOF and
TOF/DTOF method for determining the orientation and range of an ultrasonic emitter
with respect to an ultrasonic receiver array. The DTOF method was established and
produced desirable results. To improve the overall system performance, the TOF/DTOF
method was implemented. This system had an increase in performance compared with
the DTOF implementation by simply adding an RF transmitter and receiver pair. The
TOF/DTOF system was implemented on a multiple vehicle system and following control
was established.
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APPENDIX A VERIFICATION CALCULATION DATA
x Calculated x y Calculated y r1 Calculated r1 delta12 delta130 0.0000 1 1.0000 1 1 -0.414214 -0.4142140 0.0000 2 2.0000 2 2 -0.236068 -0.2360680 0.0000 3 3.0000 3 3 -0.162278 -0.1622781 1.0000 1 1.0000 1.414214 1.414213562 -0.821854 0.4142141 1.0000 2 2.0000 2.236068 2.236067977 -0.592359 0.2360681 1.0000 3 3.0000 3.162278 3.16227766 -0.443274 0.1622782 2.0000 1 1.0000 2.236068 2.236067977 -0.92621 0.8218542 2.0000 2 2.0000 2.828427 2.828427125 -0.777124 0.5923592 2.0000 3 3.0000 3.605551 3.605551275 -0.637089 0.4432743 3.0000 1 1.0000 3.162278 3.16227766 -0.960828 0.926213 3.0000 2 2.0000 3.605551 3.605551275 -0.866585 0.7771243 3.0000 3 3.0000 4.242641 4.242640687 -0.757359 0.637089
-1 -1.0000 1 1.0000 1.414214 1.414213562 0.414214 -0.821854-1 -1.0000 2 2.0000 2.236068 2.236067977 0.236068 -0.592359-1 -1.0000 3 3.0000 3.162278 3.16227766 0.162278 -0.443274-2 -2.0000 1 1.0000 2.236068 2.236067977 0.821854 -0.92621-2 -2.0000 2 2.0000 2.828427 2.828427125 0.592359 -0.777124-2 -2.0000 3 3.0000 3.605551 3.605551275 0.443274 -0.637089-3 -3.0000 1 1.0000 3.162278 3.16227766 0.92621 -0.960828-3 -3.0000 2 2.0000 3.605551 3.605551275 0.777124 -0.866585-3 -3.0000 3 3.0000 4.242641 4.242640687 0.637089 -0.757359
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APPENDIX B LIST OF MAIN HARDWARE COMPONENTS
Initial Prototype
1. Motorola 68HC11 EVBU
2. Polaroid 6500 Ultrasonic Ranging Modules
3. Polaroid 9000 Series Piezoelectric Ultrasonic Transducers
4. Polaroid 600 Series Electrostatic Ultrasonic Transducers
Final Prototype
1. Motorola 68HC11 EVBU
2. Polaroid 6500 Ultrasonic Ranging Modules
3. Polaroid 9000 Series Piezoelectric Ultrasonic Transducers
4. Polaroid 600 Series Electrostatic Ultrasonic Transducers
5. RF Monolithics, Inc. RFM3000 Transceiver Modules
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LIST OF REFERENCES
1. Abreu, J. M., Ceres, R., Calderón, L., Jiménez, M. A., González-de-Santos, P., “Measuring the 3D-position of a Walking Vehicle using Ultrasonic and Electromagnetic Waves,” Sensors and Actuators, vol. 75, pp. 131-138, 1999.
2. Arai, T., Nakano, E., “Development of Measuring Equipment for Location and
Direction (MELODI) using Ultrasonic Waves,” Transactions of the ASME, vol. 105, pp. 152-156, September 1983.
3. Borenstein, J., Koren, Y., “Obstacle Avoidance with Ultrasonic Sensors,” IEEE
Journal of Robotics and Automation, vol. 4, no. 2, pp. 213-218, April 1988. 4. Center for Advanced Aviation Systems Development, The MITRE Corporation,
“Navigation,” 2/25/2002, www.caasd.org/work/navigation.html, 4/21/2003. 5. Dana, P. H., “Global Positioning System Overview,” 5/1/2001,
http://www.colorado.edu/geography/gcraft/notes/gps/gps.html, 1/14/2003.
6. Devantech, SRF04 Ultrasonic Range Finder, Norfolk, England.
7. Federal Aviation Administration “Wide Area Augmentation System,” http://gps.faa.gov/Programs/WAAS/waas.htm, 4/21/2003.
8. Garmin, GPS16 OEM GPS receiver, Olathe, Kansas. 9. Hardt, H., Wolf, D., Husson, R., “The Dead-Reckoning Localization System of
the Wheeled Mobile Robot ROMANE,” in Proceedings of 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, IEEE, Washington DC, pp 603-610, 1996.
10. Haykin, S., Array Signal Processing, Prentice Hall Inc., Englewood Cliffs, New
Jersey, 1985.
11. Crossbow, IMU400 Inertial Measurement Unit, San Jose, California.
12. Honeywell, INU Inertial Measurement Unit, Morristown, New Jersey.
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13. Kleeman, L., “Optimal Estimation of Position and Heading for Mobile Robots using Ultrasonic Beacons and Dead-Reckoning,” in Proceedings of 1992 International Conference on Robotics and Automation, IEEE, Nice, France, pp 2582-2587, 1992.
14. Koki, M., Michihisa, I., Mikio, U., Keita, O., “Automatic Following Vehicle
System (Part 3),” ASAE Annual International Meeting, ASAE, Sacramento, California, 2001.
15. Krotkov, E., “Mobile Robot Localization using a Single Image,” in Proceedings
of the IEEE International Conference on Robotics and Automation, IEEE, vol. 2, pp 978-983, 1989.
16. Lavakumar, K., “Development of an Ultrasonic Based Positioning System for
Indoor Navigation,” Master’s Thesis, University of Florida, 1999.
17. Mahajan, A., Figueroa, F., “An Automatic Self-Installation and Calibration Method for a 3d Position Sensing System using Ultrasonics,” Robotics and Autonomous Systems, vol. 28, pp. 281-294, February 1999.
18. Mahajan, A., Walworth, M., “ 3-D Position Sensing Using the Difference in the
Time-of-Flights from a Wave Source to Various Receivers,” IEEE Transactions on Robotics and Automation, vol. 17, no. 1, pp. 91-94, February 2001.
19. McGillem, C. D., Rappaport, T., “A Beacon Navigation Method For Autonomous
Vehicles,” IEEE Transactions on Vehicular Technology, vol. 38, no. 3, August 1989, pp. 132-139.
20. Micea, M. V., Muntean, L., Brosteanu, D., “Simple Real-time Sonar with the
DSP56824,” Motorola Application Note, Rev. 0, 2001.
21. Microstrain, 3DMG Inertial Orientation Sensor, Williston, Vermont.
22. Palmer, R. J., “Test Results of a Precise, Short Range, RF Navigational/Positional System,” First Vehicle Navigation and Information Systems Conference-VNIS 1989, Toronto, Ontario, Canada, Sept. 1989, pp. 151-155.
23. Polaroid, 6500 Ultrasonic Ranging Module, Waltham, Massachusetts.
24. Rybski, P. E., Papanikolopoulos, N. P., Stoeter, S. A., Krantz, D. G., Yesin, K. B.,
Gini, M., Voyles, R., Hougen, D. F., Nelson, B., Erickson M. D., “Enlisting Rangers and Scouts for Reconnaissance and Surveillance,” IEEE Robotics and Automation Magazine, vol. 7, no. 4, pp. 14-24, December 2000.
25. Shirley, P. A., Massa Products Corp. “An Introduction to Ultrasonic Sensing,”
Sensors: The Journal of Machine Perception, vol. 6, no. 11, November 1989.
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26. Shoval, S., Borenstein, J., “Measuring the Relative Position and Orientation
between Two Mobile Robots with Binaural Sonar,” Proceedings of the ANS 9th International Topical Meeting on Robotics and Remote Systems, Seattle, Washington, March 2001.
27. Shoval, S., Borenstein, J., “Measurement of Angular Position of a Mobile Robot
Using Ultrasonic Sensors,” ANS Conference on Robotics and Remote Systems, Pittsburgh, PA, April 1999.
28. Thompson, S., Zelinsky, A.,”Accurate Local Positioning Using Visual Landmarks
From A Panoramic Sensor,” in Proceedings of 2002 IEEE International Conference on Robotics and Automation, ICRA, pp 900-907, 2002.
29. Tsai, C., “A Localization System of a Mobile Robot by Fusing Dead-Reckoning
and Ultrasonic Measurements,” IEEE Transactions on Instrumentation and Measurement, vol. 47, no. 5, pp.1399-1404, October 1998.
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BIOGRAPHICAL SKETCH
Donald Kawika MacArthur was born on March 20, 1978, in Miami, Florida, of
parents Donald and Jane MacArthur. He graduated from MAST Academy high school in
June 1996. He attended the University of Florida for undergraduate studies. In August
2000, he graduated magna cum laude with a Bachelor of Science in Mechanical
Engineering. He continued his education by attending graduate school at the University
of Florida immediately after his undergraduate studies. In graduate school, he conducted
research for the Center for Intelligent Machines and Robotics. He will be receiving a
master’s degree in May 2003. After graduation, he plans on continuing his research at
the University of Florida in the Department of Mechanical And Aerospace Engineering
involving the control and integration of heterogeneous autonomous vehicle systems.