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A double refresh rate sonar ring with FPGA-based continuous matched filtering

Published online by Cambridge University Press:  08 December 2011

Damien C. Browne  and
Lindsay Kleeman
Damien C. Browne*
Affiliation:
Intelligent Robotics Research Centre, Department of Electrical and Computer Systems Engineering, Monash University, Australia
Lindsay Kleeman
Affiliation:
Intelligent Robotics Research Centre, Department of Electrical and Computer Systems Engineering, Monash University, Australia
*
*Corresponding author. E-mail: damien_browne@hotmail.com
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Summary

Existing sonar rings are limited in their refresh rate to the transmit echo rate, that is, waiting for maximum range echoes to arrive before transmitting again. This paper presents a sonar ring refreshing at 60 Hz for 5.7-m range, which is twice the transmit echo rate, and this leads to lower latency, denser measurements. Two custom Field Programmable Gate Array signal processors provide real time continuous match filtering with dynamic templates. A new method is implemented to select the transmit time from a random set based on minimizing interference. Experiments demonstrate the increased refresh rate, interference rejection, and maps generated by the sonar ring.

Keywords

Sensor or actuator designMobile robotsSonar sensingMap buildingDesign
Type
Articles
Information
Robotica , Volume 30 , Issue 7 , December 2012 , pp. 1051 - 1062
Copyright
Copyright © Cambridge University Press 2011

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