Local measurement validation for an intelligent chirped-FM ultrasonic range sensor

An important intelligent functionality for improving measurement systems is the validation of the returned information. To obtain this validation at t he sensor level, it is essential that the sensor produces additional inform ation for this purpose. This aspect follows directly from the measurement m ethod. In this article, we apply these ideas to an ultrasonic range finding sensor dedicated to the navigation of a mobile robot, The original measure ment method proposed, based on a modulated emission, provides many configur ation parameters Influencing the accuracy and detection performances, and t wo measured parameters linked to the distance to the obstacle. The redundan cy between these two parameters allows building a local index of validity o f the measured distance. The analog-digital implementation of this measurem ent method using a microprocessor board 80C196 provides easy observation an d adjustment of all the considered parameters. In particular, the theoretic al and experimental study of the measurement method configuration parameter s leads to a sensor configuration model, whose input is the expected range, and whose output is the set of optimal values of configuration parameters in the sense of a maximal validity index.