Analysis of the performance of an Ultrasonic Local Positioning System based on the emission of Kasami codes

This work presents the performance analysis of an Ultrasonic Local Positioning System (ULPS). The system is composed of four beacons, forming a square structure in the ceiling of a rectangular room, that emit orthogonal Kasami codes BPSK modulated with a carrier frequency of 50 kHz. These emissions are detected by the receiver by pulse compression, giving the system high precision and robustness to noise. A complete model of the system has been built to conduct this study, considering effects such as the ultrasonic transducers response, signal attenuation in air, multipath propagation, reflection coefficient of walls and floor and receiver response. This model helps to identify critical zones where the self-induced noise generated in the cross-correlations masks the main peaks of the auto-correlations, making it difficult to obtain reliable Time-of-Flights from which the receiver´s position is determined. Also, the dependence of these critical zones with different parameters integrated in the model is investigated.