An analytical process of 2D sonar sensor low altitude field mapping for UAV application

Analytical processes is performed for calculating point distance using ultrasonic sensors, with the intention to resolve a low-altitude two-dimensional surface mapping using UAV. An experimental structure model was constructed to allow for dynamic one-dimensional movement of the sensor system in a horizontal plane. Sample experimental surfaces are chosen to be scanned by the sensor system and recreation of the two-dimensional profile was implemented using a 16-bit microcontroller unit. The recreated profiles are shown for comparison between the calculated and actual values, which proved to be nearly similar.