Donetsk National Technical University
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https://ea.donntu.edu.ua/jspui/handle/123456789/22588| Title: | ПРОСТРАНСТВЕННО-ВРЕМЕННАЯ МОДЕЛЬ ПАССИВНОЙ ЛОКАЦИИ ИСТОЧНИКА ЗВУКА ДВУМЯ МОБИЛЬНЫМИ РОБОТАМИ |
| Other Titles: | Space-time Model of the Sound Source Passive Location by Two Mobile Robots Просторово-часова модель пасивної локації джерела звуку двома мобільними роботами |
| Authors: | Ткаченко, В.Н. Хашан, Т.С. Tkachenko, V.N. Khashan, T.S. Ткаченко, В.М. |
| Keywords: | технический слух роботов пеленгация источника акустического сигнала пространственно-временная модель пассивной локации метод Ньютона robots’ technical hearing acoustic signal source direction-finding space-time model of passive location Newton's method технічний слух роботів пеленгація джерела акустичного сигналу просторово- часова модель пасивної локації |
| Issue Date: | 2013 |
| Publisher: | Донецький національний технічний університет |
| Citation: | Наукові праці Донецького національного технічного університету. Серія: Обчислювальна техніка та автоматизація. Випуск 1 (24). - Донецьк, ДонНТУ, 2013. С - 161-167 |
| Abstract: | Представлена пространственно-временная модель пассивной акустической локации двумя мобильными роботами. Рассмотрено решение задачи определения координат положения робота для различных случаев расположения роботов и ширины баз системы технического слуха. |
| Description: | The paper considers the problem of passive direction-finding by technical hearing systems (THS) of robots. The task of identifying the coordinates of the sound source location by two robots is studied. To solve this problem we present a space-time model of passive acoustic location by two mobile robots. We considered the problem solution for determining the coordinates of robots location for different cases of robots location and width of technical hearing bases. To determine the coordinates of the sound source we used range-difference method. This method has been successfully applied in passive radar systems. Range-difference method is based on solving a system of hyperbolic equations in the point of signals reception. The hyperbolic equations system relates the distance between the robot and the sound signal source to the measured time of signal delay. As a numerical method we selected Newton’s method, because this method has the best computing performance. Delay time modeling and hyperbolic equations solving were performed in Maple software package. Numerical studies for different variations of the location of widths of bases and heights of THS for the both cases were conducted. The problem of non-uniqueness of hyperbolic equations solutions was considered, the cases of its occurrence were studied. Recommendations as for locating the robots in space allow eliminating the ambiguity of the solutions. |
| URI: | http://ea.donntu.edu.ua/handle/123456789/22588 |
| ISSN: | 2075-4272 |
| Appears in Collections: | Випуск 1 (24)'2013 Наукові праці співробітників кафедри Автоматики і телекомунікації |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| ткаченко.pdf | 515,6 kB | Adobe PDF | View/Open |
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