Encoding ultrasonic signals with kasami sequences to perform spectrum-based localization

Airborne sonar is a robust sensing modality that has gained its popularity as a reliable and inexpensive means of determining the range to the closest obstacle. Nevertheless, it is impossible to extract bearing information from a single transducer if classical Time-of-Flight (TOF) measurements are used. For this reason, many sensors have been proposed in the last years that locate objects in the horizontal plane making use of several transducers and triangulation techniques. This work proposes a new system that combines pulse compression with the modern spectrum-based localization techniques to obtain precise bearing information from a single transducer.