Abstract-With conventional time-of-flight sonar ranging sys-tems, it is difficult to obtain a high ranging accuracy due to the 5nite bandwidth of the transducer used and the serious acoustic attenuation in the air for the high acoustic fkequencies. In this paper a multifrequency amplitude modulation (AM)-based
sonar system is exploited to obtain information about the high-resolution distance measurement for robotic ranging applications. The target distance is obtained by measuring the linear phase shift of the reflected acoustic waves with respect to the reference signal. In order to analyze the ranging error two theoretical
formulations are presented for characterization of the noisy phase measurement. The error effects on the phase measurement of the distorted input waveform due to the acoustic cross coupling are detailed, leading to the development of a multitransmitter sensing conliguration. Since multifrequency is used, the nature of
the target surface may bring about a certain ranging ambgrity to the system. The error effect of the rough surface is also analyzed at the end of the paper


摘要：傳統(tǒng)的時(shí)間飛行聲納測(cè)距系統(tǒng)，是很難獲得高精度測(cè)距。這是由于傳感器使用有限的帶寬和高頻率的聲波在空氣中的嚴(yán)重衰減。本文提出了多頻調(diào)幅（AM）為基礎(chǔ)的聲納系統(tǒng)是用來(lái)獲取高分辨率機(jī)器人廣泛應(yīng)用在距離測(cè)量的有關(guān)信息。目標(biāo)距離是通過(guò)測(cè)量線(xiàn)性相位對(duì)于參考的反射聲波信號(hào)。為了分析兩個(gè)理論測(cè)距誤差公式中而提出的噪音相位測(cè)量誤差對(duì)輸入波形影響的特性，由于交叉耦合受聲波控制影響，所以導(dǎo)致傳感器多配置發(fā)射機(jī)的研制。由于多頻發(fā)生器的使用，其靶面性質(zhì)對(duì)系統(tǒng)的影響可能會(huì)帶來(lái)一定范圍的含糊不清。誤差粗略影響在文章最后進(jìn)行了分析。