Positioning Mobile Vehicle by Using Super-Short Baseline with AM Ultrasonic Beacon

To position a mobile vehicle, it is presented to improve conventional ultra-short baseline by using super-short baseline with AM ultrasonic beacons. The array distance increases about 10 times, and errors caused by time-delay is eliminated in the proposed method. To estimate the key phase differences in the proposed method, a measurement equation based on the elliptical area which is used for estimation of the parameters is put forward. The experiment set-up is established, and experiments were performed. Experimental results indicate that accuracy is close to plusmn3 mm, and does that the SSBL with AM ultrasonic beacons in positioning is valid.