Brief description of the ultrasound telemetry for a drone, with discrimination of the parasitic echos coming from another drone

摘要

The method comprises: a) the emission of a burst of ultrasound repeated at a recurrence frequency of the predetermined; and b) after each transmission and for the duration of a temporal frame (n - 1, n, n + 1,...) separating two consecutive transmissions, the reception of a plurality of successive peaks of the signal appearing at the same frame. These peaks include parasitic peaks (e ', e', e ',...) from the transmitter of a drone, and a peak useful (e, e, e,...) corresponding to the distance estimate. In order to distinguish these peaks, it executes the following steps: c) for two consecutive frames, comparison of the instants of arrival of the peaks of the current frame with the instants of arrival of the q peaks of the preceding frame, and determining, for each of the p.q pairs of peaks, a time difference relative to corresponding; d) application to p.q deviations determined in step c) of a selection criterion making it possible to adopt only a single peak of the current frame; and e) the distance estimation as a function of the instant of arrival of the peak thus retained.