Title :
A real time DSP sonar echo processor
Author :
Heale, Andrew ; Kleeman, Lindsay
Author_Institution :
Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia
Abstract :
This paper describes a new highly accurate fast self-contained sonar sensor. Transmission and echo analyses are performed at repetition rates exceeding 27 Hz for ranges up to 5.4 metres. The sensor contains low noise variable gain preamplifiers, two 1 MHz 12 bit ADC receivers and a DSP echo processor. Optimal arrival time estimation is performed by the DSP using matched filtering of echoes with short duration and wide bandwidth. With the sensor mounted on a mobile robot, map results are derived from scanning with the sensor as the robot moves continuously
Keywords :
digital signal processing chips; echo; mobile robots; navigation; real-time systems; sonar signal processing; 1 MHz; 27 Hz; DSP; arrival time estimation; filtering; mobile robot; navigation; real time system; sonar echo processor; Bandwidth; Digital signal processing; Filtering; Gain; Matched filters; Mobile robots; Performance analysis; Preamplifiers; Sensor phenomena and characterization; Sonar;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.893192
