The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
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Ultrasonic Distance Measurement Method Based on Received Signal Model

수신 신호 모델을 이용한 초음파 거리 측정 방법

  • 최진희 (광운대학교 제어계측공학과) ;
  • 조황 (광운대학교 로봇학부) ;
  • 최익 (광운대학교 로봇학부)
  • Received : 2016.11.24
  • Accepted : 2017.02.24
  • Published : 2017.02.28
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Abstract

Most of present ultrasonic distance measurement technologies are based on the measurement of the TOF (: Time of Flight), the elapsed time during which the ultrasonic wave travels from its transmitter to receiver, to evaluate the distance the wave travels during that time. In this case, high distance measurement accuracy requires an accurate measurement of TOF. In order to acquire an accurate TOF, this paper proposes a method that produces the TOF by using a mathematical model of the received signal obtained from a mathematical model of ultrasonic transducer. The proposed method estimates the arrival time of the received signal retrospectively by comparing its wave form obtained after triggering point with its mathematical model in the sense of least-square. Experimental result shows that the effect of variation of triggering point can be decreased by implementing the proposed method.

현재 대부분의 초음파를 이용한 거리 측정 기술은 송신부로부터 수신기까지 초음파가 진행하는 시간 즉, TOF(: Time of Flight)를 측정하여 그 동안 음파가 진행한 거리를 산출하는 방법을 활용한다. 이 경우 거리 측정 정확도를 높이기 위해서는 정확한 TOF의 측정이 필요하다. 본 논문은 정확한 TOF를 산출하기 위해 초음파 송수신기의 수학적 모델을 이용하여 수신된 파형의 수학적 모델을 얻어내고 이를 바탕으로 TOF를 산출하는 방식을 제안한다. 이 방식은 트리거링 후부터 수신된 파형를 이미 얻어진 수학적 모델과 최소자승법을 이용하여 비교하여 초음파 신호가 수신기에 도달한 시점을 역으로 추정하는 방식이다. 제안된 방법을 사용할 경우 트리거링 시점의 변동에 의한 영향을 줄일 수 있음을 실험을 통하여 확인하였다.

Keywords

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