Ultrasonic-Based Distance Measurement Through Discrete Extended Kalman Filter

Abstract

Ultrasonic-based measurements are extensively used both in research and production field, spanning in endless applications: environment sensing of autonomous mobile robots, high definition imaging of biomedical devices, precise location of micro-flaws in materials, accurate estimation of the level of flammable fluids or dangerous rivers, and so on. The reason of this success mainly relies upon the opportunity offered by ultrasonics of conceiving rather simple methods or building up relatively cheap meters, characterized by satisfactory accuracy, reduced measurement time, and, above all, high level of intrinsic safety.