Estimation of Azimuth and Elevation Angles of Ultrasonic Signal Arrival by Indirect Phase Determination

  • Bogdan KreczmerEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1140)


The paper presents the concept of the method of determining the direction of ultrasonic signal arrival, i.e. the azimuth and elevation angles. This method is an extension of the previous approach which was proposed to determine only the azimuth angle. The approach is based on indirect phase determination. This makes it possible to tolerate spacing of receivers greater than half the wavelength of the received signal. At the same time, it provides increased measurement accuracy and reduced hardware requirements. For the proposed method, the preliminary implementation was performed and tested in simulations. This made it possible to estimate the value of the tolerated measurement error.


Ultrasonic range finder Sonar Direction of arrival 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of Cybernetics and Robotics, Electronics FacultyWrocław University of Science and TechnologyWrocławPoland

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