The error analysis of TDOA based ultrasonic position

How to enhance the accuracy and range is a typical issue in the ultrasonic position technology. The position accuracy depends on the hardware architecture and the detecting methods. This paper designs a hardware platform called Hexagon-Buck with six transceivers around. For the inherent property of TDOA (Time of Difference of Arrival) ranging, the RF synchronous time and embedded software processing time are two inevitable factors that leads to the distance error. At the same time, the ultrasonic velocity is sensitive to the environment temperature. The paper considers both the temperature compensation and Least Squares Linear Regression to enhance the ranging accuracy. By taking the physical test data to identify the linear regression model, we can estimate the real distance. The validity of the method has been proved by the final experiment.

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