Measured beam patterns of biomimetic receivers improve localisation performance of an ultrasonic sonar: Biomimetic receivers improve ultrasonic sonar localisation

摘要

The Beam Based Method (BBM) is a novel sonar system inspired by bat echolocation for a sonar system with one emitter and two receivers. Knowledge of the beam pattern of the receivers makes it possible to estimate the orientation of a reflecting target. In this paper, the beam pattern of four biomimetic receivers is included in the sonar system model to test which one makes the BBM localization method most accurate. Simulations are designed in MatLab and, along with the sonar system, they also model ultrasonic emission, reflection by a target and filtering through the receivers' beam pattern. All receivers are associated with similar error values in estimating target orientation. This sonar system will be built and mounted on robots for non-destructive evaluations.