Flowchart of TOF estimation in an ultrasonic ranging system using the multi-SRUKF.
The ultrasonic distance measurement platform (side view).
Diagram of the hardware used in an ultrasonic ranging system.
The TOF estimation principle of the proposed method.
Actual echo signal from an obstacle board placed 700 mm in front of the ultrasonic transducer and the reconstructed echo envelope.
Means of TOF error.
Standard deviations of TOF error.
Means of MSE.
Variances of MSE.
Number of failures of the UKF.
Number of failures of the multi-UKF.
Relations between estimation results and the number of SRUKFs.
Experiment results for the simulated ultrasonic echo signals.
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