An accurate technique for simultaneous measurement of 3D position and velocity of a moving object using a single ultrasonic receiver unit

An ultrasonic localization system is described in the paper. To the best of our knowledge, this is the first system that can simultaneously identify not only the 3D position, but also the velocity of a moving object. The proposed system uses an original and innovative method called Extended Phase Accordance Method (EPAM) that can precisely identify the distance between an ultrasonic microphone and a moving transmitter by rapidly estimating the frequency shift of the transmitted signal. One remarkable feature of the proposed system is the use of a single compact receiver unit, which will reduce deployment labor and costs. Experiments demonstrate that the proposed system shows the 3D position and velocity estimation with sufficient accuracy.