Range adaptive strategy for ultrasonic distance measurement based on Kalman filter

This paper aims at reducing the cost of measurement period and solving the problem of contradiction between large range and small blind zone in ultrasonic distance measurement, when mobile robot detects the obstacle. A controllable ultrasonic distance measurement system with a multi-range adaptive strategy based on Kalman filter is designed. By using the estimated values from Kalman filtering, the system accomplishes the range adaptation and the measurement parameters of the system are automatically adjusted. The experimental results show that this method has reduced the blind zone and expanded the dynamic measurement range of the system, meanwhile achieved an accurate estimate of the dynamic parameters of the target. Furthermore, the proposed scheme has cut down the average cost of measurement period and enhanced real-time capability.