类GPS超声定位系统关键技术研究
|
摘要
自主导引小车(Autonomous Guide Vehicle,AGV)是现代化物流系统的重要运输工具,作为其核心部分的定位与导航技术的研究越来越受到重视。借鉴GPS(Global Positioning System,全球定位系统)定位技术原理,类GPS超声定位系统是一种非常适合AGV应用的新颖的定位系统。论文从定位物体与定位基站的距离估计问题着手,以定位物体的位置、速度与姿态角等状态参数估计为核心,充分利用数字信号处理技术,对类GPS超声定位系统中涉及到的关键技术进行了深入研究与探讨。主要研究工作包括:
1.根据信号传递方式不同,指出了超声定位系统的三种实现方式:倒GPS方式,应答式和类GPS方式。阐述了类GPS超声定位系统应用于自主导引小车等领域时的优势,详细描述了系统的工作原理、组成部分、影响因素及功能单元设计情况,研究了基站发射信号的体制和约束定位空间的设计问题,归纳了与GPS系统的异同点,分析了系统实现中的关键技术。
2.深入研究了定位物体与定位基站的距离估计算法,为定位物体的位置、速度和姿态角等状态参数估计提供了伪距观测数据。首先研究了单个基站发射信号情况下定位物体与发射基站的距离估计问题。建立了单基站距离估计模型,在此模型基础上,提出了一种基于FFT(Fast Fourier Transform,快速傅立叶变换)的包络相关快速时延估计算法。在单基站距离估计算法基础上,研究了多基站距离估计算法。建立了多基站同时发射信号情况下的接收信号模型,在此模型基础上,提出了一种基于短时傅立叶变换的多基站距离估计算法。实验结果表明,通过该算法能较精确地获得定位物体与定位基站的估计距离,从而为定位物体的精确定位奠定了基础。
3.在获得定位物体与定位基站的伪距观测数据基础上,研究了静态目标的位置估计算法(以两基站进行定位的解析算法和以更多基站进行定位的Gauss-Newton迭代算法)并对它们的定位精度进行了分析。分析表明,定位物体的定位精度与伪距测量精度、基站位置准确度和所选择的定位基站有关。根据PDOP(PlaneDilution of Precision,平面位置精度因子)在定位空间中的几何分布图,提出了以两个和三个基站进行定位的基站选择原则,并通过仿真验证了上述基站选择原则的正确性。
4.用于求解定位方程的常规Gauss-Newton迭代算法涉及到大量的开方、矩阵求逆和除法运算,而这些运算不适合在DSP(Digital Signal Processor,数字信号处理器)中实现,针对上述缺陷,深入研究了三种易于在DSP中实现的定位算法:改变目标函数的Gauss-Newton迭代算法、相交圆弦线方法和最小二乘估计方法。理论分析与仿真结果表明,在相同的观测误差和定位基站情况下,改进的和常规的Gauss-Newton迭代算法的定位精度相当,而相交圆弦线方法和最小二乘估计方法定位精度较低。但与常规Gauss-Newton迭代定位算法相比,后三种方法计算量小从而更易在DSP中实现。
5.在多基站距离估计算法和静态定位算法的基础上,研究了动态目标的位置与速度估计算法。根据自主导引小车、自主移动机器人等定位物体的运动特点,建立了动态定位物体的观测方程及反映其运动规律的状态方程,研究了对动态目标进行跟踪的“两步法”。第一步,通过多基站距离估计算法和静态定位算法获得定位目标空间位置和速度的粗估计值;第二步,对获得的粗估计值序列进行卡尔曼滤波处理。仿真结果表明,将上述粗估计值序列经过卡尔曼滤波处理后可进一步提高位置估计精度,同时大大提高速度估计精度。
6.借鉴GPS定位系统中的测姿技术,研究了类GPS超声定位系统中的姿态测量算法。给出了姿态角的三种估计量并对它们的估计精度进行了分析。分析结果表明,利用反正切函数的估计量由于充分利用了定位信息从而有更高的估计精度。
Autonomous Guide Vehicle (AGV) is the main conveyance in modern logistics system, so people have attached much importance to the study of location and navigation technology, which is the most important part of AGV. Using the principle of Global Positioning System (GPS) for reference, Quasi-GPS ultrasonic location system is a novel location system and it's very suitable to AGV application. Starting with the problem of distance estimation between location object and location base-stations and taking the status parameter (position, velocity and pose angle) estimation as the core, the key technologies in Quasi-GPS ultrasonic location system are studied and discussed deeply in this paper by digital signal processing technologies. The follow are the major study results of the paper:
1. According to signal transfer mode, ultrasonic location system can be reduced to three manners: Inverse-GPS manner, Respondent manner, Quasi-GPS manner. Firstly, the predominance of Quasi-GPS ultrasonic location system used in AGV is expatiated and its work principle, make-ups, influence factors and the design of function cells are described in detail. Then the transmission signal format from base-station and the design of constraint location space are studied. Lastly, the sameness and difference between Quasi-GPS ultrasonic location system and GPS are expatiated and the key technologies in Quasi-GPS ultrasonic location system are analyzed.
2. The distances estimation algorithm between object and base-stations is studied in detail, which provides pseudo-distance observation data for location object's status parament estimation. Firstly, the single base-station distance estimation algorithm is studied, which is the foundation of multiple base-stations distances estimation algorithm. The single base-station distance estimation model is established and the envelope correlation fast time delay estimation (TDE) algorithm based on FFT and the above model is presented. Under the condition of multiple base-stations transmiting signal simutaenously, the received signal model is established. Based on the above model, the multiple base-stations distances estimation algorithm based on Short Time Fourier Transform (STFT) is presented. It shows by experiment that we can obtain exactly the distance estimation value by the above algorithm.
3. After we have obtained the distances estimation values between location object and location base-stations, the static location algorithms (the analytical method using two location base-stations and the Gauss-Newton iteration algorithm using more location base-stations) are studied and their location precisions are analyzed. It shows by analysis that the location precision is revelant to distance measurement precision, base-station position's veracity and selective location base-stations. The base-station selection principles using two or three base-stations for location are presented based on the geometrical layout of the Plane Dilusion of Precision (PDOP), and lastly it is verified by simulation that the above analysis is right.
4. Three additional location algorithms, i.e., the improved Gauss-Newton iterative algorithm, the intersectant circle chord algorithm, the least square estimation algorithm, are presented in view of easier realization in DSP considering of the deficiency of conventional Gauss-Newton algorithm, which involves much square-root, matrix's inversion and division operation. It shows by theory and simulation that the location precision of the improved and conventional Gauss-Newton algorithm is equivalent but the location precision of the rear two algorithms is baddish under the same condition, i.e., the same measurement error and the same base-stations for location. But the rear three algorithms are easier to be realized in DSP because they need little calculation comparing with conventional Gauss-Newton algorithm.
5. The position and velocity estimation algorithms of dynamic objects are studied based on the multiple base-stations distances estimation algorithm and static location algorithm. Considering of the specialty of dynamic location objects such as AGV and AMR (Autonomous Movable Robot), the observation equations and the status equations are established. Then the "two steps" track algorithm of dynamic objects is studied: Firstly, the coarse estimation value of dynamic coordinate and velocity can be obtained by the above multiple base-stations distances estimation algorithm and static location algorithm; Secondly, put the above coarse estimation value sequence into Kalman filter. It shows by simulation that position and velocity estimation precision can be augmented further after the above coarse estimation value sequence is processed by Kalman filter.
6. Using the technology of pose maeasurement in GPS for reference, the pose measurement algorithm in Quasi-GPS ultrasonic location system is studied. Three pose angle estimators are presented and their estimation precisions are analyzed. It shows by theory that the estimation precision of the estimator using arctg function is best because it takes full advantage of the position information.
1.根据信号传递方式不同,指出了超声定位系统的三种实现方式:倒GPS方式,应答式和类GPS方式。阐述了类GPS超声定位系统应用于自主导引小车等领域时的优势,详细描述了系统的工作原理、组成部分、影响因素及功能单元设计情况,研究了基站发射信号的体制和约束定位空间的设计问题,归纳了与GPS系统的异同点,分析了系统实现中的关键技术。
2.深入研究了定位物体与定位基站的距离估计算法,为定位物体的位置、速度和姿态角等状态参数估计提供了伪距观测数据。首先研究了单个基站发射信号情况下定位物体与发射基站的距离估计问题。建立了单基站距离估计模型,在此模型基础上,提出了一种基于FFT(Fast Fourier Transform,快速傅立叶变换)的包络相关快速时延估计算法。在单基站距离估计算法基础上,研究了多基站距离估计算法。建立了多基站同时发射信号情况下的接收信号模型,在此模型基础上,提出了一种基于短时傅立叶变换的多基站距离估计算法。实验结果表明,通过该算法能较精确地获得定位物体与定位基站的估计距离,从而为定位物体的精确定位奠定了基础。
3.在获得定位物体与定位基站的伪距观测数据基础上,研究了静态目标的位置估计算法(以两基站进行定位的解析算法和以更多基站进行定位的Gauss-Newton迭代算法)并对它们的定位精度进行了分析。分析表明,定位物体的定位精度与伪距测量精度、基站位置准确度和所选择的定位基站有关。根据PDOP(PlaneDilution of Precision,平面位置精度因子)在定位空间中的几何分布图,提出了以两个和三个基站进行定位的基站选择原则,并通过仿真验证了上述基站选择原则的正确性。
4.用于求解定位方程的常规Gauss-Newton迭代算法涉及到大量的开方、矩阵求逆和除法运算,而这些运算不适合在DSP(Digital Signal Processor,数字信号处理器)中实现,针对上述缺陷,深入研究了三种易于在DSP中实现的定位算法:改变目标函数的Gauss-Newton迭代算法、相交圆弦线方法和最小二乘估计方法。理论分析与仿真结果表明,在相同的观测误差和定位基站情况下,改进的和常规的Gauss-Newton迭代算法的定位精度相当,而相交圆弦线方法和最小二乘估计方法定位精度较低。但与常规Gauss-Newton迭代定位算法相比,后三种方法计算量小从而更易在DSP中实现。
5.在多基站距离估计算法和静态定位算法的基础上,研究了动态目标的位置与速度估计算法。根据自主导引小车、自主移动机器人等定位物体的运动特点,建立了动态定位物体的观测方程及反映其运动规律的状态方程,研究了对动态目标进行跟踪的“两步法”。第一步,通过多基站距离估计算法和静态定位算法获得定位目标空间位置和速度的粗估计值;第二步,对获得的粗估计值序列进行卡尔曼滤波处理。仿真结果表明,将上述粗估计值序列经过卡尔曼滤波处理后可进一步提高位置估计精度,同时大大提高速度估计精度。
6.借鉴GPS定位系统中的测姿技术,研究了类GPS超声定位系统中的姿态测量算法。给出了姿态角的三种估计量并对它们的估计精度进行了分析。分析结果表明,利用反正切函数的估计量由于充分利用了定位信息从而有更高的估计精度。
Autonomous Guide Vehicle (AGV) is the main conveyance in modern logistics system, so people have attached much importance to the study of location and navigation technology, which is the most important part of AGV. Using the principle of Global Positioning System (GPS) for reference, Quasi-GPS ultrasonic location system is a novel location system and it's very suitable to AGV application. Starting with the problem of distance estimation between location object and location base-stations and taking the status parameter (position, velocity and pose angle) estimation as the core, the key technologies in Quasi-GPS ultrasonic location system are studied and discussed deeply in this paper by digital signal processing technologies. The follow are the major study results of the paper:
1. According to signal transfer mode, ultrasonic location system can be reduced to three manners: Inverse-GPS manner, Respondent manner, Quasi-GPS manner. Firstly, the predominance of Quasi-GPS ultrasonic location system used in AGV is expatiated and its work principle, make-ups, influence factors and the design of function cells are described in detail. Then the transmission signal format from base-station and the design of constraint location space are studied. Lastly, the sameness and difference between Quasi-GPS ultrasonic location system and GPS are expatiated and the key technologies in Quasi-GPS ultrasonic location system are analyzed.
2. The distances estimation algorithm between object and base-stations is studied in detail, which provides pseudo-distance observation data for location object's status parament estimation. Firstly, the single base-station distance estimation algorithm is studied, which is the foundation of multiple base-stations distances estimation algorithm. The single base-station distance estimation model is established and the envelope correlation fast time delay estimation (TDE) algorithm based on FFT and the above model is presented. Under the condition of multiple base-stations transmiting signal simutaenously, the received signal model is established. Based on the above model, the multiple base-stations distances estimation algorithm based on Short Time Fourier Transform (STFT) is presented. It shows by experiment that we can obtain exactly the distance estimation value by the above algorithm.
3. After we have obtained the distances estimation values between location object and location base-stations, the static location algorithms (the analytical method using two location base-stations and the Gauss-Newton iteration algorithm using more location base-stations) are studied and their location precisions are analyzed. It shows by analysis that the location precision is revelant to distance measurement precision, base-station position's veracity and selective location base-stations. The base-station selection principles using two or three base-stations for location are presented based on the geometrical layout of the Plane Dilusion of Precision (PDOP), and lastly it is verified by simulation that the above analysis is right.
4. Three additional location algorithms, i.e., the improved Gauss-Newton iterative algorithm, the intersectant circle chord algorithm, the least square estimation algorithm, are presented in view of easier realization in DSP considering of the deficiency of conventional Gauss-Newton algorithm, which involves much square-root, matrix's inversion and division operation. It shows by theory and simulation that the location precision of the improved and conventional Gauss-Newton algorithm is equivalent but the location precision of the rear two algorithms is baddish under the same condition, i.e., the same measurement error and the same base-stations for location. But the rear three algorithms are easier to be realized in DSP because they need little calculation comparing with conventional Gauss-Newton algorithm.
5. The position and velocity estimation algorithms of dynamic objects are studied based on the multiple base-stations distances estimation algorithm and static location algorithm. Considering of the specialty of dynamic location objects such as AGV and AMR (Autonomous Movable Robot), the observation equations and the status equations are established. Then the "two steps" track algorithm of dynamic objects is studied: Firstly, the coarse estimation value of dynamic coordinate and velocity can be obtained by the above multiple base-stations distances estimation algorithm and static location algorithm; Secondly, put the above coarse estimation value sequence into Kalman filter. It shows by simulation that position and velocity estimation precision can be augmented further after the above coarse estimation value sequence is processed by Kalman filter.
6. Using the technology of pose maeasurement in GPS for reference, the pose measurement algorithm in Quasi-GPS ultrasonic location system is studied. Three pose angle estimators are presented and their estimation precisions are analyzed. It shows by theory that the estimation precision of the estimator using arctg function is best because it takes full advantage of the position information.
引文
[1]阎鹰.自动导航小车超声波定位方法的研究,硕士学位论文,西安:西安理工大学,2005
[2]崔茂源,董再励,田彦涛.移动机器人激光全局定位系统的算法研究.系统工程与电子技术,2001,24(11):73-75
[3]童峰,许天增,许鹭芬.一种用于自动导引车(AGV)的超声波导航系统.高技术通讯,2002,8:47-50
[4]张军宇,何克忠.移动机器人THMR-V的组合定位系统.计算机工程与应用,2001,15:68-71
[5]董再励,郝颖明,朱枫.一种基于视觉的移动机器人定位系统.中国图像图形学报,2000,5(8):688-692
[6]孙仲康.单多基地有源无源定位技术.北京:国防工业出版社,1996
[7]何香玲,张跃,郑钢.GPS全球卫星定位技术的发展现状、动态及应用.微计算机信息,2002,18(5):3-5
[8]王惠南.GPS导航原理与应用.北京:科学出版社,2003
[9]邱致和,王万义.GPS原理与应用.北京:电子工业出版社,2004
[10]袁建平,罗建军,岳晓奎.卫星导航原理与应用.北京:中国宇航出版社,2003
[11]王成,李少洪,黄槐.测时差定位系统定位精度分析与最优布站.火控雷达技术,2003,32(3):1-7
[12]焦淑红,刘申建,司锡才.机动目标时差无源定位自适应滤波算法研究.哈尔滨工程大学学报,2001,22(5):57-61
[13]张小凤,赵俊渭,王荣庆.双基地声纳定位精度和算法研究.系统仿真学报,2003,15(10):1471-1473
[14]修建娟,何友,王国宏.被动定位中的方位数据关联.系统工程与电子技术,2003,25(3):280-283
[15]刘喜昂,周志宇.基于多超声传感器的机器人安全避障技术.测控技术,2004,23(3):71-73
[16]Zhao Feng-ji,Guo Hai-jiao,Kenichi Abe.A mobile robot localization using ultrasonic sensors in indoor environment.IEEE international workshop on Robot and Human communication,1997:52-57
[17]Dekneuvel,H.Medromi.An ultrasonic sound intelligent sensor for a mobile robot perception system.Principles,design and experimentations.IEEE,1999:513-520
[18]Barat Christian.Local diseriminant bases and optimized wavelet to classify ultrasonic echoes application to indoor mobile robotics.IEEE,2002:1654-1659
[19]Johann Borenstein,Yoram Koren.Noise rejection for ultrasonic sensors in mobile robot applications Proceedings of the 1992 IEEE international conference on Robotics and Automation,1992(5):1727-1732
[20]Masaharu Takano,Shuniehi Odaka,Takahiro Tsuldshima.Study On Mobile Robot Navigation Control By Internal And External Sensor Data With Ultrasonic Sensor.IEEE/RSJ international workshop on Intelligent Robots and Systems,1989:456-463
[20]Masaharu Takano,Shunichi Odaka,Takahiro Tsukishima.Study On Mobile Robot Navigation Control By Internal And External Sensor Data With Ultrasonic Sensor.IEEE/RSJ international workshop on Intelligent Robots and Systems,1999:456-463
[21]胡跃辉,周康源,周平.一种实时3D超声定位系统的设计.声学技术,2004,23(1):29-33
[22]熊春山,彭刚,黄心汉.基于超声测距的三维精确定位系统与设计.自动化仪表,2001,22(3):7-10
[23]刘宗杰,袁易全.超声传感器定位中的几何约束与数据处理.传感技术学报,1996,1:19-25
[24]刘宗杰,袁易全.超声被动定位的一种新滤波方法.声学技术,1995,1:57-63
[25]Wan-Li Yao.A pseudo random(PR) code based ultrasonic navigation system (UNS).Proceeding of the 2004 IEEE International Conference on Robotics,Automation and Mechatronics,December,2004:752-757
[26]AIRMAR Tech.Co.Overview for Applying Ultrasonic Technology(Airducer~(TM)Catalog).2001 #17-204 rev.05:5-37
[27]“863”计划“水下GPS高精度定位系统”课题组.我国首套水下GPS高精度定位导航系统简介.中国水利,2004,3:52-54
[28]Blumenthal L M.Theory and Application of Distance Geometry,2nd ed.Chelsea,New York,1970:98-105
[29]Havel T F,Kuntz I D,Crippen G M.Bulletin of mathematical biology.1983,45(5):665-720
[30]王成,李少洪,王鑫全.测时差被动定位算法的研究.系统工程与电子技术,2003,23(11):9-12
[31]张小凤,张光斌,赵俊渭.基于最佳线性数据融合的双基地声呐定位优化算法.应用声学,2004,23(3):40-44
[32]张正明,杨绍全,张守宏.平面时差定位精度分析.西安电子科技大学学报(自然科学版),2000,27(1):13-16
[33]杨福渠.声呐浮标最小二乘定位.声学与电子工程,1998,4:1-5
[34]杨福渠.声呐浮标三维定位算法和定位误差参数.声学与电子工程,1999,3:11-14
[35]杨福渠.声呐浮标最小二乘平面定位误差分析.声学与电子工程,2002,2:23-27
[36]万群,彭应宁.一种新的加权最小二乘测距定位方法.电子与信息学报,2002,24(12):1980-1984
[37]J.Caffery,Jr.A new approach to the geometry ofTOA location.IEEE VTC'2000,Spring Tokyo 2000:1943-1949
[38]李精文,李军.GPS水下定位的水声定位算法.华东船舶工业学院学报,1998,12(5):37-42
[39]吴玲,刘忠,卢发兴.用于双基地雷达目标定位的全局收敛高斯-牛顿法.系统工程与电子技术,2004,26(1):30-34
[40]常青,柳重堪,张其善.GPS的几何精度因子和定位解的递推算法.通信学报,1998,19(12):83-88
[41]常青,柳重堪,张其善.基于最小二乘递推估计的GPS定位算法.北京航空航天大学学报,1998,24(3):263-266
[42]柳重堪.信号处理的数学方法.南京:东南大学出版社,1992
[43]刘忠,吴玲,卢发兴.非线性最小二乘定位问题的全局收敛解法.火力与指挥控制,2003,28(6)增刊:16-19
[44]张祥德,牛纪祥,董再励.基于测角的自主移动机器人定位算法.东北大学学报(自然科学版),2002,23(12):1143-1146
[45]袁亚湘,孙文瑜.最优化理论与方法.北京:科学出版社,1997
[46]《数学手册》编写组.数学手册.北京:高等教育出版社,2002
[47]粟塔山,彭维杰,周作益.最优化计算原理与算法程序设计.长沙:国防科技大学出版社,2001
[48]徐春龙,林书玉.超声的应用及展望.陕西师范大学继续教育学报,2001,18(3):102-104
[49]尹旭全,张建华,高守玮.超声在测量中的应用.现代电子技术,2003,5.100-102
[50]潘仲明.大作用距离超声测距技术研究.博士学位论文,长沙:国防科技大学,2006
[51]冯若.超声手册.南京:南京大学出版社,1999
[52]栾桂冬等.压电换能器和换能器阵(上册).北京:北京大学出版社,1990
[53]陈桂生.超声换能器设计.北京:海洋出版社,1984
[54]马志敏,贾嘉.超声检测中弱信号提取方法.武汉水利电力大学学报,1998,31(6):76-79
[55]樊秀云,袁嗣杰,张合敏.伪码数字相关在超声波测距中的应用.装备指挥技术学院学报,2002,13(3):77-80
[56]葛万成,吴凤萍.两步相关法高抗干扰超声波距离测量技术的研究.仪器仪表学报,2002,23(3):253-256
[57]杨斌虎.伪随机序列相关的超声波测距系统研究.硕士学位论文,太原:太原理工大学,2004,5
[58]葛万成.相关法高抗干扰超声波距离测量中的信号处理,同济大学学报,2002,30(1):71-76
[59]唐朝伟,杨士中,黄振.伪随机码扩频超声多目标检测及干扰抑制.电路与系统学报,1997,2(2):14-17
[60]K.Audenaert,H.Peremans,Y.Kawahara,etc.Accurate ranging of multiple object using ultrasonic sensor.Proceeding of the 1992 IEEE International Conference on Robotics and Automation,May,1992:1733-1738
[61]Klaus-Werner Jorg,Markus Berg.Mobile Robot Sonar Sensing with Pseudo-Random Codes.Proceeding of the 1998 IEEE International Conference on Robotics&Automation,May,1998:2807-2812
[62]Klaus-Werner Jorg,Markus Berg and Markus Muller.Towards sophisticated mobile robot sonar sensing using pseudo-random sequences IEEE,1997:120-125
[63]江南.DSP实现的实时广义相关时延估计器.昆明理工大学学报,1999,24(6):13-17
[64]杨亦春,马驰州.相关峰细化的精确时延估计快速算法研究.声学学报,2003,28(2):159-166
[65]Daniele Marioli,et al.Digital Time-of-flight Measurement for Ultrasonic Sensors.IEEE Transactions On Instrumentation and Measurement,Vol.41,No 1,February 1992:93-97
[66]Gaetano Giunta.Fast Estimators of Time Delay and Doppler Stretch Based On Discrete-time Methods.IEEE Transactions On Signal Processing,Vol.46,No 7,July 1998:1785-1797
[67]Xiaoming Lai,Hans Torp.Interpolation Methods for Time Delay Estimation Using Cross-Correlation Method for Blood Velocity Measurement.IEEE Transactions on Ultrasonics,Ferroelectrics,and Frequency Control,Vol.46,No 2,March 1999:277-290
[68]Jacob Benesty,Jingdong Chen.Time-Delay Estimation via Linear Interpolation and Cross Correlation,IEEE Transactions On Speech and Audio Processing, Vol.12,No 5,September 2004:509-519
[69]杨亦春,程祥,陈庆生.提高时延估计精度的方法研究.南京理工大学学报,1999,23(6):514-517
[70]隋卫平,潘仲明,王跃科.一种新型的超声换能器驱动与回波检测电路设计.国防科技大学学报,2004,26(3):107-111
[71]王宏禹,邱天爽.自适应噪声抵消与时间延迟估计.大连:大连理工大学出版社,2000
[72]QIAN YU MEI,WANG YUE.AR parameter bi-spectrum time delay estimation.International Conference On Circuits and Systems,June,1991,ShenZhen,China:361-364
[73]Goson Gu,Dean W.Lytle.Direct estimation of time delay using third-order cumulants.International Conference On Circuits and Systems,June,1991,ShenZhen,China:489-492
[74]PinXing LIN,ShiYi MAO.An adaptive parametric time delay estimation of pulse signal via higher order statistics.IEEE,1993:196-199
[75]Wang Jinlin,Li Qihu.A fast algorithm for bispectrum based time delay estimation.International Conference On Circuits and Systems,June,1991,ShenZhen,China:348-350
[76]Liang ZongChuang,Liu XingZhao,Liu YongTan.A modified time delay estimation algorithm based on higher order statistics for signal detection problems.ICSP'02 Proceedings:255-258
[77]Doron Kletter,Hagit Messer.The role of third order spectrum in maximum likelihood time delay estimation of a random multi-tone signal in noise.IEEE,1989:2310-2313
[78]Chrysostomos L.Nikias,Renlong Pan.Time delay estimation in unknown Gaussian spatially correlated noise.IEEE,1988:2638-2641
[79]Yong Wu,A.Rahim Leyman.Time delay estimation in unknown spatially uncorrelated Gaussian noises using higher-order statistics IEEE,1999:2813-2816
[80]Tang Guanghua,Chen Qi,Liu Guosui.Time delay estimation of Gaussian signal in non-Gaussian spatially correlated noise.IEEE International Conference On Neural Networks&Signal Processing,Nanjing,China,2003:639-642
[81]Ying-Chang,A.Rahim Leyman.Time delay estimation using higher order statistics.Electronics Letters,1997,33(9):751-753
[82]Yong Wu,A.Rahim Leyman.Time delay estimation using higher-order statistics:a set of new results.International Conference On Information,Communication and Signal Processing,December,1997,Singapore:1397-1400
[83]Yisong Ye,Jitendra K.Tugnait.Time delay estimation using integrated polyspectrum.IEEE,1994:Ⅱ-397-Ⅱ-400
[84]Melvin J.Hinich,Gary R.Wilson.Time delay estimation using the cross bispectrum.IEEE Transaction On Signal Processing,Vol.40,No.l,January,1992:106-113
[85]A.KINIE,G.CARRAULT,F.WENDLING.Time delay estimation with higher order moments in epilepsy[EEG analysis].IEEE,1994:233-234
[86]Jitendra K.Tugnait.Time delay estimation with unknown spatially correlated Gaussiannoise.IEEE,1991:1265-1268
[87]赵国文,向阳,彭勇.互相关和高阶谱时延估计在混凝土板冲击反射法测量中的应用.无损检测,2003,25(10):524-527
[88]刘颖,纪晓东,王树勋.基于三阶累积量的自适应参数型多径时延估计.仪器仪表学报,2001,22(4)增刊:63-65
[89]刘颖,王树勋,王本平.基于四阶累积量的自适应参数型多径时延估计.系统仿真学报,2002,14(6):700-703
[90]黄清.相关域双谱时延估计方法.声学学报,2003,28(1):57-60
[91]马雯,黄建国.利用高阶累积量进行时延估计的方法.计算机工程与应用,2001.17:54-57
[92]梁红,王惠刚,李志舜.一种基于高阶累积量的自适应时延估计新方法.系统工程与电子技术,2003,25(7):783-786
[93]黄建人,周功禹.一种利用高阶谱相位数据进行时延估计的新方法.声学学报,1997,22(2):132-138
[94]王昭,赵俊渭,陈钟.一种空间相关高斯噪声背景下的时变时延估计算法.电子与信息学报,2003,25(6):728-734
[95]Yang Seok Jeong,Heungryeol Ryou,Chungyong Lee.A high resolution time delay estimation technique in frequency domain for positioning system.IEEE,2002:2318-2321
[96]Ivars P.Kirsteins,Alex C.Kot.Performance analysis of a high resolution time delay estimation algorithm.IEEE,1990:2767-2770
[97]Hard Saarnisaari.TLS-ESPRIT in a time delay estimation.IEEE,1997:1619-1623
[98]陈华伟,赵俊渭,郭业才.频域自适应时延估计及其在被动声定位中的应用 研究.电声技术,2002,7:4-7
[99]陈华伟,赵俊渭,郭业才.一种频域自适应最大似然时延估计算法.系统工程与电子技术,2003,25(11):1355-1358
[100]陈华伟,赵俊渭,郭业才.一种维纳加权频域自适应时延估计算法.声学学报,2003,28(6):514-517
[101]陈华伟,赵俊渭,郭业才.二次加权频域自适应时延估计算法与应用.声学学报,2003,28(1):61-65
[102]马雯,黄建国.LMS白适应时延估计法在被动定位系统中的应用研究.船舶工程,2000,6:50-54
[103]刘颖,王树勋,梁应敞.自适应参数型多径时延估计方法的研究.高技术通讯,2001,9:36-39
[104]Zheng Cheng,T.T.Tjhung.A new algorithm for explicit time delay estimation.IEEE,2002:1297-1300
[105]Wen Ma,Jianguo Huang.Accurate time delay estimation based on SINC filtering.ICSP'02 Proceedings:1621-1624
[106]K.C.Ho,P.C.Ching,Y.T.Chan.Adaptive time delay estimation in noisy environments.IEEE,1991:1461-1464
[107]K.C.Ho,Y.T.Chan,P.C.Ching.Adaptive time-delay estimation in nonstationary signal and/or noise power environments IEEE Transaction On Signal Processing,Vol.41,No.7,July,1993:2289-2299
[108]H.C.So,P.C.Ching.Comparative study of five LMS-based adaptive time delay estimators.IEE,Proc-Radar,Sonar Navig,Vol.148,No.1,February,2001:9-15
[109]P.M.Clarkson,M.V.Dokie.Real-time adaptive filters for time-delay estimation.IEEE,1990:891-894
[110]P.C.Ching,H.C.So.Two adaptive algorithms for multipath time delay estimation.IEEE Journal of Oceanic Engineering,Vol 19.No.3,July 1994:458-463
[111]X.X.Niu,P.C.Ching,Y.T.Chan.A Wavelet-based algorithms for time delay and doppler measurements.IEEE,1995:485-488
[112]A.Quahabi,D.Kouame.Discrete time-frequency(time-scale) techniques for time delay and Doppler estimation.IEEE,1999:1457-1460
[113]Q.Jin,K.M.Wong,Z.Q.Luo.Joint time delay and Doppler stretch estimation using wideband signals.IEEE,1995:18-21
[114]P.C.Ching,H.C.So,S.Q.Wu.On wavelet denoising and its applications to time delay estimation.IEEE Transaction On Signal Processing,Vol.47,No.10,October,1999:2879-2882
[115]Yin Chengyou,Xu Shanjia,Wang Dongjin.Performance analysis of the estimation of time delay and Doppler stretch by wideband ambiguity function.IEEE,1998:452-455
[116]Qu Jin,Kon Max Wong,Zhi Quan Luo.The estimation of time delay and Doppler stretch of wideband signals.IEEE Transaction On Signal Processing,Vol.43,No.4,April,1995:904-916
[117]H.S.Park,S.W.Nam.Time-delay estimation using M-band wavelet transform and projection eross-correlation.Electronies Letters,2002,38(9):438-440
[118]P.Rao,C.Griffin,F.J.Taylor.Time-delay Estimation Using The Wigner Distribution.IEEE,1988:726-729
[119]Q.Jin,K.M.Wong,Z.Q.Luo.Wavelet based approach for joint time delay and Doppler stretch measurements.IEEE,1999:1111-1119
[120]Q.Jin,K.M.Wong,Z.Q.Luo.Wideband time delay and Doppler stretch estimation the application of wavelet transform and the optimum signal.IEEE,1993:Ⅰ-241-Ⅰ-244
[121]陈隽永,徐庆,徐继麟.超宽带雷达中基于小波变换的时延估计方法.电波科学学报,2001,16(2):245-248
[122]行鸿彦,刘照泉,万明习.基于小波变换的广义相关时延估计算法.声学学报,2002,27(1):88-93
[123]戴延中,李志舜.基于Wigner-Ville分布的宽带回波到达时刻估计方法.声学学报,2002,27(1):84-87
[124]戴延中,李志舜.基于Wigner-Ville分布的宽带回波瞬时多普勒估计方法.声学学报,2002,27(2):137-140
[125]戴延中,李志舜.时频分析在宽带信号检测中的应用研究.船舶工程,2001,4:45-49
[126]刘庆云,李志舜.基于自适应核时频分布的多普勒频移及多径时延估计.西北工业大学学报,2004,22(1):29-32
[127]韩萍,吴仁彪,苏志刚.超分辨率时延估计研究新进展.中国民航学院学报,2000,18(4):1-9
[128]郑仲明.一种基于阵列天线的时延估计方法.电讯技术,2002,5:32-35
[129]马雯,黄建国.广义相关时延估计在被动定位系统中的应用研究.探测与控制 学报,2000,22(3):51-54
[130]Francesco Viola,William F.Walker.A comparison of the performance of time-delay estimators in medical ultrasound.IEEE Transactions On Ultrasonics,Ferroelectrics,and Frequency Control,Vol.50,No.4,April2003:392-401
[131]T.G.Manickam,R.J.Vaccaro,D.W.Tufts.A least-squares algorithm for multipath time-delayestimation.IEEE,1994:3229-3233
[132]Peter J.Hahn,V.John Mathews,Thao D.Tran.Adaptive realization of a maximum likelihood time delay estimator.IEEE,1996:3121-3124
[133]Francesco Viola,William F.Walker.Comparison of time delay estimators in medical ultrasound.2001 IEEE Ultrasonics Symposium:1485-1488
[134]Giovanni Jacovitti,Gaetano Scarano.Discrete time techniques for time delay estimation.IEEE Transactions On Signal Processing,Vol.41,No.2,February 1993:525-533
[135]Benoit Champagne,Moshe Eizenman,Subbarayan Pasupathy.Exact maximum likelihood time delay estimation.IEEE,1989:2633-2636
[136]Roberto Cusani.Performance of fast time delay estimators.IEEE Transactions On Acoustics,Speech,and Signal Processing,Vol.37,No.5,May 1989:757-759
[137]A.Quahabi,D.Kouame.Fast techniques for time delay and Doppler estimation.IEEE,2000:337-340
[138]Roberto Cusani.Fast techniques for time delay estimation.IEEE,1989:177-180
[139]G.Liao,H.C.So,P.C.Ching.Joint time delay and frequency estimation of multiple sinusoids.IEEE,2001:3121-3124
[140]K.Raja Rajeswari,D.Elizabath Rani.Time-delay estimation using MLE approach for wide-band radar systems.Proceedings of ICSP'98:1493-1496
[141]Liang-min Wang,K.Kirk Shung,Octavia I.Camps.Two bit correlation-an adaptive time delay estimation.IEEE Transactions On Ultrasonics,Ferroelectrics,and Frequency Control,Vol.43,No.3,May 1996:473-481
[142][美]Steven M.Kay.统计信号处理基础--估计与检测理论(罗鹏飞等译).电子工业出版社,2003:129-164
[143]M.Parrilla,et al.Digital Signal Processing Techniques for High Accuracy Ultrasonic Range Measurements.IEEE Transactions On Instrumentation and Measurement,Vol.40,No 4,August 1991:759-763
[144]G.Andria,et al.Digital Methods for Very Accurate Ultrasonic Sensor Measurements.IEEE,1999:1687-1692
[145]G.Andria,et al.Digital Measuring Techniques for High Accuracy Ultrasonic Sensor Application.IEEE Instrumentation and Measurement Technology Conference,St.Paul,Minnesota,USA,May 1998:1056-1061
[146]Francis E.Gueuning,et al.Accurate Distance Measurement by an Autonomous Ultrasonic System Combining Time-of-flight and Phase-shift Methods.IEEE Transactions On Instrumentation and Measurement,Vol.46,No 6,December 1997:1236-1240
[147]杨建伟.大炸高扩频引信的关键技术研究.博士学位论文,长沙:国防科技大学,2005
[148]陈建云.水声扩频自导关键技术研究.博士学位论文,长沙:国防科技大学,2004
[149]张贤达,保铮.通信信号处理.北京:国防工业出版社,2000
[150]上海桑博科技有限公司.STR-6型微功率无线数传模块使用说明书.上海:上海桑博科技有限公司,2005
[151]维纳.K.恩格尔,约翰.G.普罗克斯.数字信号处理--使用Matlab(刘树棠译).西安:西安交通大学出版社,2002
[152]卢文祥.机械工程测试.信息.信号分析.武汉:华中科技大学出版社,2001
[153][美]A.V.奥本海默,R.W.谢弗,J.R.巴克.Discrete-Time Signal Processing(Second Edition)(刘树棠译).西安:西安交通大学出版社,2002
[154]皇甫堪,陈建文,楼生强.现代数字信号处理.北京:电子工业出版社,2003
[155]樊昌信.通信原理(第五版).北京:国防工业出版社,2003
[156]王跃科,叶湘滨,黄芝平.现代动态测试技术理论.北京:国防工业出版社,2003
[157]Albert Boggess,Francis J.Narcowich.小波与傅立叶分析基础(芮国胜 康健译).北京:电子工业出版社,2004
[158]熊洪允,曾绍标.应用数学基础(上册).天津:天津大学出版社,1994
[159]熊洪允,曾绍标.应用数学基础(下册).天津:天津大学出版社,1994
[160]Dimitris G.Manolakis,Vinay k.Ingle,Stephen M.Kogon.统计与自适应信号处理.北京:电子工业出版社,2003
[161][美]L.科恩.时频分析:理论与应用(白居宪译).西安:西安交通大学出版社,2000
[162]张贤达.现代信号处理.北京:清华大学出版社,1994
[163]张贤达,保铮.非平稳信号处理.北京:国防工业出版社,1998
[164]成礼智,王红霞,罗永.小波的理论与应用.北京:科学出版社,2004
[165]Tommy Oberg.调制、检测与编码(何英姿等译).北京:电子工业出版社,2004
[166]康华光,陈大钦.电子技术基础模拟部分(第四版).北京:高等教育出版社,2000
[167]Simon Haykin.自适应滤波器原理(第四版)(郑宝玉译).北京:电子工业出版社,2004
[168]查光明,熊贤祚.扩频通信.西安:西安科技大学出版社,1998
[169]黄智伟.无线数字收发电路设计--电路原理与应用实例.北京:电子工业出版社,2003
[170][法]Stephane Mallat.信号处理的小波导引(杨力华等译).北京:机械工业出版社,2002
[171]沈福民.自适应信号处理.西安:西安电子科技大学出版社,2001
[172]潘仲明,王跃科,杨俊.现代测控理论基础--信号分析、处理与参数估计.长沙:国防科技大学出版社,2004
[173]余英林,谢胜利,蔡汉添.信号处理新方法导论.北京:清华大学出版社,2003
[174]程晓畅,王跃科,潘仲明.基于最小二乘估计的数据采集通道标定方法.计算机测量与控制,2005,13(9):997-999
[175]程晓畅,王跃科,苏绍景.基于相关函数包络峰细化的高精度超声测距方法.测试技术学报,2006,20(4):320-324
[176]苏绍景,程晓畅,王跃科.类GPS超声定位系统及其多基站距离估计算法研究.传感技术学报,2007,20(2):430-434
[177]程晓畅,苏绍景,王跃科.伪随机码超声扩频测距系统设计与算法研究.测试技术学报,2007,21(1):79-83
[178]苏绍景,程晓畅,王跃科.基于功率倒谱的超声测距时延估计方法研究.传感技术学报,2006,19(3):836-838
[179]程晓畅,苏绍景,王跃科.超声回波信号解调及其包络相关时延估计算法.传感技术学报,2006,19(6):2571-2573
[180]程晓畅,苏绍景,王跃科.类GPS超声定位系统中几种定位算法比较.传感技术学报,2007,20(3):698-702
[181]Cheng Xiao-chang,Pan Zhong-ming,Wang Yue-ke.6 Channels Ultrasonic Transmission and Echo Data Acquisition System Based On Wireless Control,ISTM,Dalian,China,1-4,June,Vol.1:47-52
[182]程晓畅,王跃科.类GPS超声定位系统及其两基站定位性能分析.声学与电子工程,2006(4):18-21
[183]程晓畅,王跃科.伪随机码超声扩频测距发射与接收电路设计,声学与电子工程,2007(1):42-45
[184]罗庆生,韩宝玲.一种基于超声波与红外线探测技术的测距定位系统.计算机测量与控制,2005,13(4):305-306
[185]孟立凡,郑宾,侯文.超声测距换能器及收发电路的研究.华北工学院学报,2001,22(2):87-89
[186]翁黎朗,杨立.超声波换能器驱动和接收电路的研究.集美大学学报,1998,3(4):60-64
[187]袁易全.近代超声原理与应用.北京:电子工业出版社,2004.326-406
[188]魏守水,田力军,赵淳生.超声电机阻抗匹配变压器的设计.电机与控制学报,2000,4(1):13-16
[189]洪新华,吴慎山,王庆国.超声波驱动电路的研究.河南职技师院学报,1999,27(3):78-80
[190]王清池,吴在勋.超声地形障碍检出系统换能器的研制.厦门大学学报(自然科学版),1997,36(2):229-233
[191]王松,郑正奇.超声定位车辆路径监测系统的设计.计算机测量与控制,2006,14(10):1310-1311
[192]童峰,许水源,许天增.一种高精度超声波测距处理方法.厦门大学学报(自然科学版),1998,37(4):507-512
[193]朱光文.我国海洋探测技术五十年发展的回顾与展望(一).海洋技术,1999,18(2):1-16
[194]朱光文.我国海洋探测技术五十年发展的回顾与展望(二).海洋技术,1999,18(3):1-13
[195]朱光文.我国海洋探测技术五十年发展的回顾与展望(三).海洋技术,2000,19(1):23-31
[196]李守军,包更生,吴水根.水声定位技术的发展现状与展望.海洋技术,2005,24(1):130-135
[197]吴水亭,周兴华,杨龙.水下声学定位系统及其应用.海洋测绘,2003,23(4):18-21
[198]胡利民.联合GPS和类GPS测距技术实现双星编队星座的状态确定.硕士学位论文,长沙:国防科技大学,2005
[199]明德祥.面向网络仪器的统一时间支持体系研究.博士学位论文,长沙:国防科技大学,2006
[200]Fabien Napolitano.GAPS:Global Acoustic Positioning System.Sea Technology,June 2005:51-54
[201]鲍建东.换能器的阻抗匹配设计.应用声学,1996,15(3):37-39
[202]吴运发.水声宽带换能器的匹配技术研究.声学技术.2000,19(2):87-89
[203]SN75372 Dual MOSFET DRIVER Data Sheet.Texas Instruments,July,1986
[204]徐波.超声扩频测速技术研究.硕士学位论文,长沙:国防科技大学,2005
[205]CHENG Xiao-Chang,SU Shao-Jing,WANG Yue-Ke.Research On Single Base-Station Distance Estimation Algorithm in Quasi-GPS Ultrasonic Location System,Proc.ISIST/2006..253-256
[206]SU Shao-Jing,CHENG Xiao-Chang,WANG Yue-Ke,Research On Fast Time Delay Estimation Algorithm in Quasi-GPS Ultrasonic Location System,Proc.ISTAI/2006:487-491
[207]W.Muhammad,O.Meste,H.Rix.A novel approach for joint estimation of time delay and scale factor with applications to the M-wave analysis 2001proceedings of the 23~(rd) Annual EMBS International Conference,October 25-28,2001,Istanbul,Turkey:1093-1096
[208]P.Mihajlik,M.Guttermuth,K.Seres.DSP-based ultrasonic navigation aid for the blind.IEEE Instrumentation and Measurement Technology Conference,Budapest,Hungary,May21-23,2001:1535-1540
[209]Yuu Ono,Jean Francois Moisan,Cheng-kuei Jen.Ultrasonic techniques for imaging and measurements in molten aluminum IEEE Transactions On Ultrasonics,Ferroelectrics,and Frequency Control,Vol 50,No 12,December 2003:1711-1721
[210]W.T.Kuang,A.S.Morris.Ultrasonic Doppler distance measurement technique for robot tracking system.Electronics Letters,27~(th),May 1999,Vol.35,No.11:942-943
[211]G.Hueber,T.Ostermann,T.Bauernfeind.New approach of ultrasonic distance measurement technique in robot applications.ICSP 2000:2066-2069
[212]H.Roth,K.Schilling.Navigation and docking manoeuvres of mobile robots in industrial environments.IEEE,1998:2458-2462
[213]X.Li,R.Wu,M.Sheplak.Multifrequency CW-based time-delay estimation for proximity ultrasonic sensors.IEEE,2002:53-59
[214]Ricardo Gutierrez-Osuna,Jason A.Janet,Ren C.Luo.Modeling of ultrasonic range sensors for localization of autonomous mobile robots.IEEE Transactions On Industrial Electronics,Vol.45,No.4,August 1998:654-662
[215]Ailson R.de Almeida,Eduardo O.Freire.Neural network-based geometric references recognition applied to ultrasound echo signals.Proc.43~(rd) IEEE Midwest Symp.On Circuits and Systems,Lansing ML,August 8-11,2000:1344-1347
[216] Scott Macintosh, Dipen N.Sinha, Gregory Kaduchak. Noninvasive noncontact fluid detection in submerged containers using swept frequency ultrasonic technique . 2001 IEEE Ultrasonic Symposium: 689-692
[217] M.Ihsan Ecemis, Paolo Gaudiano. Object recognition with ultrasonic sensors .IEEE,1999: 250-255
[218] Valentin Magori, Valentin R.Magori, N.Seitz. On-line determination of tyre deformation, a novel sensor principle . 1998 IEEE Ultrasonic Symposium:485-488
[219] Kazuo ISHII, Kouzou Yano. Path planning system for a mobile robot using self-organizing map . IEEE,2001: 32-37
[220] Zafiris Politis, Penny Probert. Perception of an indoor robot workspace by using CTFM sonar imaging . Proceedings of 1998 IEEE International Conference On Robotics & Automation, Leuven Belgium, May 1998: 2801-2806
[221] Jonathan Bisson, Francois Michaud, Dominic Letourneau. Relative positioning of mobile robots using ultrasounds . Proceedings of the IEEE/RSJ International Conference On Intelligent Robots and systems, Las Vegas, Nevada, October,2003: 1783-1788
[222] Angelo M.Sabatini, Alessandro Rocchi. Sampled baseband correlators for in-air ultrasonic rangefinders . IEEE Transactions On Industrial Electronics, Vol.45,No.2,April, 1998: 341-350
[223] H.K.Tonshoff, E.Bedhief, U.Kruse. Sensor systems for robotic applications under water . IEEE, 2000: 329-333
[224] Anjani RAchanta, Vittal Rao. Application of wavelet analysis in two-dimensional ultrasonic flaw detection . Proceedings of SPIE Vol.5046(2003): 132-143
[225] C.H.Chen, Tzu.Hung Cheng. Signal processing in ultrasonic NDE using time-frequency representations . SPIE Vol.292: 319-324
[226] Mokhtar Sadok. Wavelets for ultrasonic echo identification in aircraft fuel tanks .Proceedings of SPIE Vol.4738 (2002): 497-502
[227] Jonathan M.Cannata, Timothy A.Ritter, Wo-Hsing Chen. Design of efficient,broadband single-element (20-80 MHz) ultrasonic transducers for medical imaging applications. IEEE Transactions On Ultrasonics, Ferroelectrics, and Frequency Control, Vol.50, No.11, November, 2003: 1548-1557
[228] Lewis F.Brown, Joel L.Mason. Disposable PVDF ultrasonic transducers for nondestructive testing applications . IEEE Transactions On Ultrasonics,Ferroelectrics, and Frequency Control, Vol.43, No.4, July, 1996: 560-568
[229] Johann Borenstein, Yoram Koren. Error eliminating rapid ultrasonic firing for mobile robot obstacle avoidance . IEEE Transactions On Robotics and Automation, Vol.11, No.1, February, 1995: 132-138
[230] Joseph Bernard Lemay. Error Minimization And Redundancy Management For A Three Dimensional Ultrasonic Ranging System . Proceedings of 1992 IEEE/RSJ International Conference On Intelligent Robots and Systems, July,1992:837-844
[231] Anders Nilsson, Per Holmberg. Robot-sensor system integration by means of 2-D vision and ultrasonic sensing for localization and recognition of objects .Proceedings of 1993 IEEE/RSJ International Conference On Intelligent Robots and Systems, July, 1993: 1793-1799
[232] Kai-Tai Song, Wen-Hui Tang. Environment Perception for a mobile robot using double ultrasonic sensors and a CCD camera . IEEE Transactions On Industrial Electronics, Vol.43, No.3, June, 1996: 372-379
[233] P.Acevedo-Contla, D.K.Das-Gupta. Simple model for the design of ultrasonic transducers using composite piezoelectric materials . 1995 IEEE Ultrasonic Symposium: 1029-1032
[234] Tsutomu Tanzawa, Noriaki Kiyohiro,Shinji Kotani. The ultrasonic range finder for outdoor mobile robots . IEEE, 1995: 368-373
[235] Anthony S.ACAMPORA, Jack H.Winters. Three-dimensional ultrasonic vision for robotic applications . IEEE Transactions On Pattern Analysis and Machine Intelligence, Vol.11, No.3, March, 1989: 291-303
[236] A.Sennaoui, A.Kehli, A.Larouk. Time-frequency analysis by the wavelet method of the ultrasonic backscattering coefficient from blood application to red blood cell aggregation . 18~(th) Annual International Conference of the IEEE Engineering in medicine and biology society, Amsterdam, 1996: 1021-1022
[237] Christian Barat, Etienne Colle, Naima Ait Oufroukh. Toward a versatile ultrasonic sensor . IEEE, 2001: 383-391
[238] Catherine Wykes, P.Webb. Ultrasonic arrays for automatic vehicle guidance .IEEE, 1995: 1-3
[239] A.Courcelle, O.Horn. Ultrasonic data representation: application to mobile robots localisation . Proceedings of the 1998 IEEE/RSJ International Conference On Intelligent Robots and Systems, October, 1998: 1559-1564
[240] P.J.Van Der Mark. Wideband single-chip ultrasonic transceiver . Electronics Letters, 1988, Vol.24,No.24: 1516-1517
[241] Zhilun Gui, Xiaobing Hu, Longtu Li. Design and analysis of a piezoelectric ultrasonic transducer for distance measurement. IEEE, 2002: 335-338
[242] Minoru Toda. Narrowband impedance matching layer for high efficiency thickness mode ultrasonic transducers . 2001 IEEE Ultrasonic Symposium:1173-1176
[243] Russell A.Noble, Anthony D.R.Jones, Toby J.Robertson. Novel, wide bandwidth, micromachined ultrasonic transducers . IEEE Transactions On Ultrasonics,Ferroelectrics, and Frequency Control, Vol.48, No.6, November, 2001:1495-1507
[244] Valentin Magori. Ultrasonic sensors in air. 1994 Ultrasonic Symposium: 471-481
[245] Alessandro Caronti. An accurate model for capacitive micromachined ultrasonic transducers . IEEE Transactions On Ultrasonics, Ferroelectrics, and Frequency Control, Vol.49, No.2, February, 2002: 159-168
[246] Li-feng Ge. Electrostatic airborne ultrasonic transducers : modeling and characterization . IEEE Transactions On Ultrasonics, Ferroelectrics, and Frequency Control, Vol.46, No.5, September, 1999: 1120-1127
[247] Yongan Shui, Xuechang Geng, Q.M.Zhang. Theoretical modeling of resonant modes of composite ultrasonic transducers . IEEE Transactions On Ultrasonics,Ferroelectrics, and Frequency Control, Vol.42, No.4, July, 1995: 766-773
[248] P.Acevedo Contla, D.K.Das-Gupta. Simple model for the design of polymeric piezoelectric ultrasonic transducers . Acoustic Sensing and Imaging, March 1993,Conference Publication No 369: 1-6
[249] Lindsay KLeeman. Ultrasonic Autonomous Robot Localisation System. IEEE/RSJ International Workshop On Robots and Systems, September, 1989:212-219
[250] Lewis F.Brown, David L.Carlson. Ultrasound transducer models for piezoelectric polymer films . IEEE Transactions On Ultrasonics, Ferroelectrics, and Frequency Control, Vol.36, No.3, May, 1989: 313-318
[251] Angelo M.Sabatini, Enrico Spinielli. Correlation techniques for digital time-of-flight measurement by airborne ultrasonic rangefinders . IEEE, 1998:2168-2175
[252] M.A.Malik, J.Saniie, X.MJin. Gabor coefficients for estimation of arrival time and center frequency of ultrasonic echoes .1995 IEEE Ultrasonic Symposium:743-746
[253] M.A.Malik, J.Saniie. Generalized time-frequency representation of ultrasonic signals. 1993 IEEE Ultrasonic Symposium: 691-695
[254] H.Ijima, A.Ohsumi. Maximum likelihood estimation of time-delay of ultrasonic signals based on wigner distribution. SICE Annual Conference in Fukui, August 4-6, 2003: 2545-2549
[255] C.Guetbi. Methods based on wavelets for time delay estimation of ultrasound signals . IEEE, 19898: 113-116
[256] Ramazan Demirli, Jafar Saniie. Model based time-frequency estimation of ultrasonic echoes for NDE applications.2000 IEEE Ultrasonic Symposium:785-788
[257] Ramazan Demirli, Jafar Saniie. Model-based estimation of ultrasonic echoes Part I: Analysis and algorithms . IEEE Transactions On Ultrasonics, Ferroelectrics, and Frequency Control, Vol.48, No.3, May, 2001: 787-792
[258] Ramazan Demirli, Jafar Saniie. Model-based estimation of ultrasonic echoes Part II: Nondestructive evaluation applications.IEEE Transactions On Ultrasonics,Ferroelectrics, and Frequency Control, Vol.48, No.3, May, 2001: 803-811
[259] N.Michalodimitrakis, Th.Laopoulos. On the use of wavelet transform in ultrasonic measurement systems . IEEE Instrumentation and Measurement Technology Conference, Budapest Hungary , May 21-23, 2001: 589-594
[260] M.A.Malik, J.Saniie. Performance comparison of time-frequency distributions for ultrasonic nondestructive testing. 1996 IEEE Ultrasonic Symposium: 701-704
[261] F.K.Lam, C.K.Leung. Ultrasonic detection using wideband discrete wavelet transform . IEEE, 2001: 890-893
[262] A.Abbate, J.Frankel, P.Das. Wavelet transform signal processing for dispersion analysis of ultrasonic signals . 1995 IEEE Ultrasonic Symposium: 751-755
[263] Sylvie Legendre, Daniel Massicotte, Jacques Goyette. Wavelet-transform-based method of analysis for Lamb-wave ultrasonic NDE signals . IEEE Transactions On Instrumentation and Measurement, Vol.49, No.3, June, 2000: 524-530
[264] Wrya Muhammad, Olivier Meste. A pseudojoint estimation of time delay and scale factor for M-wave analysis . IEEE Transactions On Biomedical Engineering, Vol.50, No.4, April, 2003: 459-468
[265] X.X.Niu, P.C.Ching. Accurate time delay and Doppler stretch estimation in noisy environment. 1996 IEEE Tencon-Digital Signal Processing Applications: 676-680
[266] S.R.Dooley, A.K.Nandi. Adaptive time delay and Doppler shift estimation for narrowband signals . IEE Proc. Radar, Sonar Navig, Vol.146, No.5, October 1999: 243-250
[267] X.X.Niu, P.C.Ching, S.Q.Wu. Design of a wideband optimum signal for time delay and Doppler stretch measurements . 1997 IEEE International Symposium on Circuits and Systems, June 9-12, 1997, Hongkong: 2533-2536
[268] Kon Max Wong, Zhi-Quan Luo, Qu Jin. Design of optimum signals for the simultaneous estimation of time delay and Doppler shift. IEEE Transactions On Signal Processing, Vol.41, No.6, June, 1993: 2141-2154
[269] Anders Grennberg, Magnus Sandell. Estimation of subsample time delay differences in narrowband ultrasonic echoes using the Hilbert transform correlation . IEEE Transactions On Ultrasonics, Ferroelectrics, and Frequency Control, Vol.41, No.5, September, 1994: 588-595
[270] Ramazan Demirli. Model based estimation of ultrasonic echoes: Analysis,algorithms, and applications . Chicago, Illinois Institute of technology, December,2001: 1-129
[271] Daewon Kim. A novel approach to the classification of ultrasonic NDE signals . Iowa State University,2002
[272]Harold T.Vincent Ⅱ.Models,algorithms,and measurements for underwater acoustic positioning.University of Rhode Island,2001
[273]贾志军,单甘霖,程兴亚.GPS动态定位中的自适应扩展卡尔曼滤波算法.军械工程学院学报,2001,13(2):39-43
[274]霍家道,郝艳玲.导航信号卡尔曼滤波定位解算方法研究.中国航海,2004,1:44-47
[275]胡丛玮,刘大杰,姚连璧.带约束条件的自适应滤波及其在GPS定位中的应用.测绘学报,2002,31(5):39-44
[276]管旭军,芮国胜.基于UKF的单站无源定位算法.电光与控制,2004,11(1):1-3
[277]徐敬,孙永侃,王秀坤.基于测向交叉和卡尔曼滤波的多舰无源被动定位算法.现代雷达,2001,23(6):35-38
[278]张卫平,王伟策,王飞.基于扩展Kalman滤波的声阵列定位数据融合算法.解放军理工大学学报(自然科学版),2003,4(1):75-78
[279]何友,修建娟,唐小明.基于时差信息的超视距目标定位与跟踪.电子学报,2003,31(12):1917-1920
[280]王红军,徐敬.舰载无源被动定位与卡尔曼滤波.火力与指挥控制,1999,24(2):55-60
[281]张满生,张学庄,陈保平.新型GPS动态定位自适应卡尔曼滤波方法.中南工业大学学报(自然科学版),2003,34(5):543-546
[282]仲祺琪,毛卫宁.利用DOA的双基阵被动定位算法研究.声学与电子工程,2003,2:15-18
[283]邱玲,沈振康.三维纯角度被动跟踪定位的最小二乘-卡尔曼滤波算法.红外与激光工程,2001,30(2):83-86
[284]师延山,李道本,范跃祖.无线定位扩展卡尔曼滤波算法的优化.北京航空航天大学学报,2003,29(4):308-311
[285]常青,柳重堪,张其善.GPS定位与测速算法研究.北京航空航天大学学报,1998,24(5):510-513
[286]高磊,徐德民,任章.自适应推广Kalman滤波应用于水下被动目标定位.系统工程与电子技术,2001,23(5):8-11
[287]常永宇,桑林,张欣.CDMA 2000-1X网络技术.北京:电子工业出版社,2005:165-177
[2]崔茂源,董再励,田彦涛.移动机器人激光全局定位系统的算法研究.系统工程与电子技术,2001,24(11):73-75
[3]童峰,许天增,许鹭芬.一种用于自动导引车(AGV)的超声波导航系统.高技术通讯,2002,8:47-50
[4]张军宇,何克忠.移动机器人THMR-V的组合定位系统.计算机工程与应用,2001,15:68-71
[5]董再励,郝颖明,朱枫.一种基于视觉的移动机器人定位系统.中国图像图形学报,2000,5(8):688-692
[6]孙仲康.单多基地有源无源定位技术.北京:国防工业出版社,1996
[7]何香玲,张跃,郑钢.GPS全球卫星定位技术的发展现状、动态及应用.微计算机信息,2002,18(5):3-5
[8]王惠南.GPS导航原理与应用.北京:科学出版社,2003
[9]邱致和,王万义.GPS原理与应用.北京:电子工业出版社,2004
[10]袁建平,罗建军,岳晓奎.卫星导航原理与应用.北京:中国宇航出版社,2003
[11]王成,李少洪,黄槐.测时差定位系统定位精度分析与最优布站.火控雷达技术,2003,32(3):1-7
[12]焦淑红,刘申建,司锡才.机动目标时差无源定位自适应滤波算法研究.哈尔滨工程大学学报,2001,22(5):57-61
[13]张小凤,赵俊渭,王荣庆.双基地声纳定位精度和算法研究.系统仿真学报,2003,15(10):1471-1473
[14]修建娟,何友,王国宏.被动定位中的方位数据关联.系统工程与电子技术,2003,25(3):280-283
[15]刘喜昂,周志宇.基于多超声传感器的机器人安全避障技术.测控技术,2004,23(3):71-73
[16]Zhao Feng-ji,Guo Hai-jiao,Kenichi Abe.A mobile robot localization using ultrasonic sensors in indoor environment.IEEE international workshop on Robot and Human communication,1997:52-57
[17]Dekneuvel,H.Medromi.An ultrasonic sound intelligent sensor for a mobile robot perception system.Principles,design and experimentations.IEEE,1999:513-520
[18]Barat Christian.Local diseriminant bases and optimized wavelet to classify ultrasonic echoes application to indoor mobile robotics.IEEE,2002:1654-1659
[19]Johann Borenstein,Yoram Koren.Noise rejection for ultrasonic sensors in mobile robot applications Proceedings of the 1992 IEEE international conference on Robotics and Automation,1992(5):1727-1732
[20]Masaharu Takano,Shuniehi Odaka,Takahiro Tsuldshima.Study On Mobile Robot Navigation Control By Internal And External Sensor Data With Ultrasonic Sensor.IEEE/RSJ international workshop on Intelligent Robots and Systems,1989:456-463
[20]Masaharu Takano,Shunichi Odaka,Takahiro Tsukishima.Study On Mobile Robot Navigation Control By Internal And External Sensor Data With Ultrasonic Sensor.IEEE/RSJ international workshop on Intelligent Robots and Systems,1999:456-463
[21]胡跃辉,周康源,周平.一种实时3D超声定位系统的设计.声学技术,2004,23(1):29-33
[22]熊春山,彭刚,黄心汉.基于超声测距的三维精确定位系统与设计.自动化仪表,2001,22(3):7-10
[23]刘宗杰,袁易全.超声传感器定位中的几何约束与数据处理.传感技术学报,1996,1:19-25
[24]刘宗杰,袁易全.超声被动定位的一种新滤波方法.声学技术,1995,1:57-63
[25]Wan-Li Yao.A pseudo random(PR) code based ultrasonic navigation system (UNS).Proceeding of the 2004 IEEE International Conference on Robotics,Automation and Mechatronics,December,2004:752-757
[26]AIRMAR Tech.Co.Overview for Applying Ultrasonic Technology(Airducer~(TM)Catalog).2001 #17-204 rev.05:5-37
[27]“863”计划“水下GPS高精度定位系统”课题组.我国首套水下GPS高精度定位导航系统简介.中国水利,2004,3:52-54
[28]Blumenthal L M.Theory and Application of Distance Geometry,2nd ed.Chelsea,New York,1970:98-105
[29]Havel T F,Kuntz I D,Crippen G M.Bulletin of mathematical biology.1983,45(5):665-720
[30]王成,李少洪,王鑫全.测时差被动定位算法的研究.系统工程与电子技术,2003,23(11):9-12
[31]张小凤,张光斌,赵俊渭.基于最佳线性数据融合的双基地声呐定位优化算法.应用声学,2004,23(3):40-44
[32]张正明,杨绍全,张守宏.平面时差定位精度分析.西安电子科技大学学报(自然科学版),2000,27(1):13-16
[33]杨福渠.声呐浮标最小二乘定位.声学与电子工程,1998,4:1-5
[34]杨福渠.声呐浮标三维定位算法和定位误差参数.声学与电子工程,1999,3:11-14
[35]杨福渠.声呐浮标最小二乘平面定位误差分析.声学与电子工程,2002,2:23-27
[36]万群,彭应宁.一种新的加权最小二乘测距定位方法.电子与信息学报,2002,24(12):1980-1984
[37]J.Caffery,Jr.A new approach to the geometry ofTOA location.IEEE VTC'2000,Spring Tokyo 2000:1943-1949
[38]李精文,李军.GPS水下定位的水声定位算法.华东船舶工业学院学报,1998,12(5):37-42
[39]吴玲,刘忠,卢发兴.用于双基地雷达目标定位的全局收敛高斯-牛顿法.系统工程与电子技术,2004,26(1):30-34
[40]常青,柳重堪,张其善.GPS的几何精度因子和定位解的递推算法.通信学报,1998,19(12):83-88
[41]常青,柳重堪,张其善.基于最小二乘递推估计的GPS定位算法.北京航空航天大学学报,1998,24(3):263-266
[42]柳重堪.信号处理的数学方法.南京:东南大学出版社,1992
[43]刘忠,吴玲,卢发兴.非线性最小二乘定位问题的全局收敛解法.火力与指挥控制,2003,28(6)增刊:16-19
[44]张祥德,牛纪祥,董再励.基于测角的自主移动机器人定位算法.东北大学学报(自然科学版),2002,23(12):1143-1146
[45]袁亚湘,孙文瑜.最优化理论与方法.北京:科学出版社,1997
[46]《数学手册》编写组.数学手册.北京:高等教育出版社,2002
[47]粟塔山,彭维杰,周作益.最优化计算原理与算法程序设计.长沙:国防科技大学出版社,2001
[48]徐春龙,林书玉.超声的应用及展望.陕西师范大学继续教育学报,2001,18(3):102-104
[49]尹旭全,张建华,高守玮.超声在测量中的应用.现代电子技术,2003,5.100-102
[50]潘仲明.大作用距离超声测距技术研究.博士学位论文,长沙:国防科技大学,2006
[51]冯若.超声手册.南京:南京大学出版社,1999
[52]栾桂冬等.压电换能器和换能器阵(上册).北京:北京大学出版社,1990
[53]陈桂生.超声换能器设计.北京:海洋出版社,1984
[54]马志敏,贾嘉.超声检测中弱信号提取方法.武汉水利电力大学学报,1998,31(6):76-79
[55]樊秀云,袁嗣杰,张合敏.伪码数字相关在超声波测距中的应用.装备指挥技术学院学报,2002,13(3):77-80
[56]葛万成,吴凤萍.两步相关法高抗干扰超声波距离测量技术的研究.仪器仪表学报,2002,23(3):253-256
[57]杨斌虎.伪随机序列相关的超声波测距系统研究.硕士学位论文,太原:太原理工大学,2004,5
[58]葛万成.相关法高抗干扰超声波距离测量中的信号处理,同济大学学报,2002,30(1):71-76
[59]唐朝伟,杨士中,黄振.伪随机码扩频超声多目标检测及干扰抑制.电路与系统学报,1997,2(2):14-17
[60]K.Audenaert,H.Peremans,Y.Kawahara,etc.Accurate ranging of multiple object using ultrasonic sensor.Proceeding of the 1992 IEEE International Conference on Robotics and Automation,May,1992:1733-1738
[61]Klaus-Werner Jorg,Markus Berg.Mobile Robot Sonar Sensing with Pseudo-Random Codes.Proceeding of the 1998 IEEE International Conference on Robotics&Automation,May,1998:2807-2812
[62]Klaus-Werner Jorg,Markus Berg and Markus Muller.Towards sophisticated mobile robot sonar sensing using pseudo-random sequences IEEE,1997:120-125
[63]江南.DSP实现的实时广义相关时延估计器.昆明理工大学学报,1999,24(6):13-17
[64]杨亦春,马驰州.相关峰细化的精确时延估计快速算法研究.声学学报,2003,28(2):159-166
[65]Daniele Marioli,et al.Digital Time-of-flight Measurement for Ultrasonic Sensors.IEEE Transactions On Instrumentation and Measurement,Vol.41,No 1,February 1992:93-97
[66]Gaetano Giunta.Fast Estimators of Time Delay and Doppler Stretch Based On Discrete-time Methods.IEEE Transactions On Signal Processing,Vol.46,No 7,July 1998:1785-1797
[67]Xiaoming Lai,Hans Torp.Interpolation Methods for Time Delay Estimation Using Cross-Correlation Method for Blood Velocity Measurement.IEEE Transactions on Ultrasonics,Ferroelectrics,and Frequency Control,Vol.46,No 2,March 1999:277-290
[68]Jacob Benesty,Jingdong Chen.Time-Delay Estimation via Linear Interpolation and Cross Correlation,IEEE Transactions On Speech and Audio Processing, Vol.12,No 5,September 2004:509-519
[69]杨亦春,程祥,陈庆生.提高时延估计精度的方法研究.南京理工大学学报,1999,23(6):514-517
[70]隋卫平,潘仲明,王跃科.一种新型的超声换能器驱动与回波检测电路设计.国防科技大学学报,2004,26(3):107-111
[71]王宏禹,邱天爽.自适应噪声抵消与时间延迟估计.大连:大连理工大学出版社,2000
[72]QIAN YU MEI,WANG YUE.AR parameter bi-spectrum time delay estimation.International Conference On Circuits and Systems,June,1991,ShenZhen,China:361-364
[73]Goson Gu,Dean W.Lytle.Direct estimation of time delay using third-order cumulants.International Conference On Circuits and Systems,June,1991,ShenZhen,China:489-492
[74]PinXing LIN,ShiYi MAO.An adaptive parametric time delay estimation of pulse signal via higher order statistics.IEEE,1993:196-199
[75]Wang Jinlin,Li Qihu.A fast algorithm for bispectrum based time delay estimation.International Conference On Circuits and Systems,June,1991,ShenZhen,China:348-350
[76]Liang ZongChuang,Liu XingZhao,Liu YongTan.A modified time delay estimation algorithm based on higher order statistics for signal detection problems.ICSP'02 Proceedings:255-258
[77]Doron Kletter,Hagit Messer.The role of third order spectrum in maximum likelihood time delay estimation of a random multi-tone signal in noise.IEEE,1989:2310-2313
[78]Chrysostomos L.Nikias,Renlong Pan.Time delay estimation in unknown Gaussian spatially correlated noise.IEEE,1988:2638-2641
[79]Yong Wu,A.Rahim Leyman.Time delay estimation in unknown spatially uncorrelated Gaussian noises using higher-order statistics IEEE,1999:2813-2816
[80]Tang Guanghua,Chen Qi,Liu Guosui.Time delay estimation of Gaussian signal in non-Gaussian spatially correlated noise.IEEE International Conference On Neural Networks&Signal Processing,Nanjing,China,2003:639-642
[81]Ying-Chang,A.Rahim Leyman.Time delay estimation using higher order statistics.Electronics Letters,1997,33(9):751-753
[82]Yong Wu,A.Rahim Leyman.Time delay estimation using higher-order statistics:a set of new results.International Conference On Information,Communication and Signal Processing,December,1997,Singapore:1397-1400
[83]Yisong Ye,Jitendra K.Tugnait.Time delay estimation using integrated polyspectrum.IEEE,1994:Ⅱ-397-Ⅱ-400
[84]Melvin J.Hinich,Gary R.Wilson.Time delay estimation using the cross bispectrum.IEEE Transaction On Signal Processing,Vol.40,No.l,January,1992:106-113
[85]A.KINIE,G.CARRAULT,F.WENDLING.Time delay estimation with higher order moments in epilepsy[EEG analysis].IEEE,1994:233-234
[86]Jitendra K.Tugnait.Time delay estimation with unknown spatially correlated Gaussiannoise.IEEE,1991:1265-1268
[87]赵国文,向阳,彭勇.互相关和高阶谱时延估计在混凝土板冲击反射法测量中的应用.无损检测,2003,25(10):524-527
[88]刘颖,纪晓东,王树勋.基于三阶累积量的自适应参数型多径时延估计.仪器仪表学报,2001,22(4)增刊:63-65
[89]刘颖,王树勋,王本平.基于四阶累积量的自适应参数型多径时延估计.系统仿真学报,2002,14(6):700-703
[90]黄清.相关域双谱时延估计方法.声学学报,2003,28(1):57-60
[91]马雯,黄建国.利用高阶累积量进行时延估计的方法.计算机工程与应用,2001.17:54-57
[92]梁红,王惠刚,李志舜.一种基于高阶累积量的自适应时延估计新方法.系统工程与电子技术,2003,25(7):783-786
[93]黄建人,周功禹.一种利用高阶谱相位数据进行时延估计的新方法.声学学报,1997,22(2):132-138
[94]王昭,赵俊渭,陈钟.一种空间相关高斯噪声背景下的时变时延估计算法.电子与信息学报,2003,25(6):728-734
[95]Yang Seok Jeong,Heungryeol Ryou,Chungyong Lee.A high resolution time delay estimation technique in frequency domain for positioning system.IEEE,2002:2318-2321
[96]Ivars P.Kirsteins,Alex C.Kot.Performance analysis of a high resolution time delay estimation algorithm.IEEE,1990:2767-2770
[97]Hard Saarnisaari.TLS-ESPRIT in a time delay estimation.IEEE,1997:1619-1623
[98]陈华伟,赵俊渭,郭业才.频域自适应时延估计及其在被动声定位中的应用 研究.电声技术,2002,7:4-7
[99]陈华伟,赵俊渭,郭业才.一种频域自适应最大似然时延估计算法.系统工程与电子技术,2003,25(11):1355-1358
[100]陈华伟,赵俊渭,郭业才.一种维纳加权频域自适应时延估计算法.声学学报,2003,28(6):514-517
[101]陈华伟,赵俊渭,郭业才.二次加权频域自适应时延估计算法与应用.声学学报,2003,28(1):61-65
[102]马雯,黄建国.LMS白适应时延估计法在被动定位系统中的应用研究.船舶工程,2000,6:50-54
[103]刘颖,王树勋,梁应敞.自适应参数型多径时延估计方法的研究.高技术通讯,2001,9:36-39
[104]Zheng Cheng,T.T.Tjhung.A new algorithm for explicit time delay estimation.IEEE,2002:1297-1300
[105]Wen Ma,Jianguo Huang.Accurate time delay estimation based on SINC filtering.ICSP'02 Proceedings:1621-1624
[106]K.C.Ho,P.C.Ching,Y.T.Chan.Adaptive time delay estimation in noisy environments.IEEE,1991:1461-1464
[107]K.C.Ho,Y.T.Chan,P.C.Ching.Adaptive time-delay estimation in nonstationary signal and/or noise power environments IEEE Transaction On Signal Processing,Vol.41,No.7,July,1993:2289-2299
[108]H.C.So,P.C.Ching.Comparative study of five LMS-based adaptive time delay estimators.IEE,Proc-Radar,Sonar Navig,Vol.148,No.1,February,2001:9-15
[109]P.M.Clarkson,M.V.Dokie.Real-time adaptive filters for time-delay estimation.IEEE,1990:891-894
[110]P.C.Ching,H.C.So.Two adaptive algorithms for multipath time delay estimation.IEEE Journal of Oceanic Engineering,Vol 19.No.3,July 1994:458-463
[111]X.X.Niu,P.C.Ching,Y.T.Chan.A Wavelet-based algorithms for time delay and doppler measurements.IEEE,1995:485-488
[112]A.Quahabi,D.Kouame.Discrete time-frequency(time-scale) techniques for time delay and Doppler estimation.IEEE,1999:1457-1460
[113]Q.Jin,K.M.Wong,Z.Q.Luo.Joint time delay and Doppler stretch estimation using wideband signals.IEEE,1995:18-21
[114]P.C.Ching,H.C.So,S.Q.Wu.On wavelet denoising and its applications to time delay estimation.IEEE Transaction On Signal Processing,Vol.47,No.10,October,1999:2879-2882
[115]Yin Chengyou,Xu Shanjia,Wang Dongjin.Performance analysis of the estimation of time delay and Doppler stretch by wideband ambiguity function.IEEE,1998:452-455
[116]Qu Jin,Kon Max Wong,Zhi Quan Luo.The estimation of time delay and Doppler stretch of wideband signals.IEEE Transaction On Signal Processing,Vol.43,No.4,April,1995:904-916
[117]H.S.Park,S.W.Nam.Time-delay estimation using M-band wavelet transform and projection eross-correlation.Electronies Letters,2002,38(9):438-440
[118]P.Rao,C.Griffin,F.J.Taylor.Time-delay Estimation Using The Wigner Distribution.IEEE,1988:726-729
[119]Q.Jin,K.M.Wong,Z.Q.Luo.Wavelet based approach for joint time delay and Doppler stretch measurements.IEEE,1999:1111-1119
[120]Q.Jin,K.M.Wong,Z.Q.Luo.Wideband time delay and Doppler stretch estimation the application of wavelet transform and the optimum signal.IEEE,1993:Ⅰ-241-Ⅰ-244
[121]陈隽永,徐庆,徐继麟.超宽带雷达中基于小波变换的时延估计方法.电波科学学报,2001,16(2):245-248
[122]行鸿彦,刘照泉,万明习.基于小波变换的广义相关时延估计算法.声学学报,2002,27(1):88-93
[123]戴延中,李志舜.基于Wigner-Ville分布的宽带回波到达时刻估计方法.声学学报,2002,27(1):84-87
[124]戴延中,李志舜.基于Wigner-Ville分布的宽带回波瞬时多普勒估计方法.声学学报,2002,27(2):137-140
[125]戴延中,李志舜.时频分析在宽带信号检测中的应用研究.船舶工程,2001,4:45-49
[126]刘庆云,李志舜.基于自适应核时频分布的多普勒频移及多径时延估计.西北工业大学学报,2004,22(1):29-32
[127]韩萍,吴仁彪,苏志刚.超分辨率时延估计研究新进展.中国民航学院学报,2000,18(4):1-9
[128]郑仲明.一种基于阵列天线的时延估计方法.电讯技术,2002,5:32-35
[129]马雯,黄建国.广义相关时延估计在被动定位系统中的应用研究.探测与控制 学报,2000,22(3):51-54
[130]Francesco Viola,William F.Walker.A comparison of the performance of time-delay estimators in medical ultrasound.IEEE Transactions On Ultrasonics,Ferroelectrics,and Frequency Control,Vol.50,No.4,April2003:392-401
[131]T.G.Manickam,R.J.Vaccaro,D.W.Tufts.A least-squares algorithm for multipath time-delayestimation.IEEE,1994:3229-3233
[132]Peter J.Hahn,V.John Mathews,Thao D.Tran.Adaptive realization of a maximum likelihood time delay estimator.IEEE,1996:3121-3124
[133]Francesco Viola,William F.Walker.Comparison of time delay estimators in medical ultrasound.2001 IEEE Ultrasonics Symposium:1485-1488
[134]Giovanni Jacovitti,Gaetano Scarano.Discrete time techniques for time delay estimation.IEEE Transactions On Signal Processing,Vol.41,No.2,February 1993:525-533
[135]Benoit Champagne,Moshe Eizenman,Subbarayan Pasupathy.Exact maximum likelihood time delay estimation.IEEE,1989:2633-2636
[136]Roberto Cusani.Performance of fast time delay estimators.IEEE Transactions On Acoustics,Speech,and Signal Processing,Vol.37,No.5,May 1989:757-759
[137]A.Quahabi,D.Kouame.Fast techniques for time delay and Doppler estimation.IEEE,2000:337-340
[138]Roberto Cusani.Fast techniques for time delay estimation.IEEE,1989:177-180
[139]G.Liao,H.C.So,P.C.Ching.Joint time delay and frequency estimation of multiple sinusoids.IEEE,2001:3121-3124
[140]K.Raja Rajeswari,D.Elizabath Rani.Time-delay estimation using MLE approach for wide-band radar systems.Proceedings of ICSP'98:1493-1496
[141]Liang-min Wang,K.Kirk Shung,Octavia I.Camps.Two bit correlation-an adaptive time delay estimation.IEEE Transactions On Ultrasonics,Ferroelectrics,and Frequency Control,Vol.43,No.3,May 1996:473-481
[142][美]Steven M.Kay.统计信号处理基础--估计与检测理论(罗鹏飞等译).电子工业出版社,2003:129-164
[143]M.Parrilla,et al.Digital Signal Processing Techniques for High Accuracy Ultrasonic Range Measurements.IEEE Transactions On Instrumentation and Measurement,Vol.40,No 4,August 1991:759-763
[144]G.Andria,et al.Digital Methods for Very Accurate Ultrasonic Sensor Measurements.IEEE,1999:1687-1692
[145]G.Andria,et al.Digital Measuring Techniques for High Accuracy Ultrasonic Sensor Application.IEEE Instrumentation and Measurement Technology Conference,St.Paul,Minnesota,USA,May 1998:1056-1061
[146]Francis E.Gueuning,et al.Accurate Distance Measurement by an Autonomous Ultrasonic System Combining Time-of-flight and Phase-shift Methods.IEEE Transactions On Instrumentation and Measurement,Vol.46,No 6,December 1997:1236-1240
[147]杨建伟.大炸高扩频引信的关键技术研究.博士学位论文,长沙:国防科技大学,2005
[148]陈建云.水声扩频自导关键技术研究.博士学位论文,长沙:国防科技大学,2004
[149]张贤达,保铮.通信信号处理.北京:国防工业出版社,2000
[150]上海桑博科技有限公司.STR-6型微功率无线数传模块使用说明书.上海:上海桑博科技有限公司,2005
[151]维纳.K.恩格尔,约翰.G.普罗克斯.数字信号处理--使用Matlab(刘树棠译).西安:西安交通大学出版社,2002
[152]卢文祥.机械工程测试.信息.信号分析.武汉:华中科技大学出版社,2001
[153][美]A.V.奥本海默,R.W.谢弗,J.R.巴克.Discrete-Time Signal Processing(Second Edition)(刘树棠译).西安:西安交通大学出版社,2002
[154]皇甫堪,陈建文,楼生强.现代数字信号处理.北京:电子工业出版社,2003
[155]樊昌信.通信原理(第五版).北京:国防工业出版社,2003
[156]王跃科,叶湘滨,黄芝平.现代动态测试技术理论.北京:国防工业出版社,2003
[157]Albert Boggess,Francis J.Narcowich.小波与傅立叶分析基础(芮国胜 康健译).北京:电子工业出版社,2004
[158]熊洪允,曾绍标.应用数学基础(上册).天津:天津大学出版社,1994
[159]熊洪允,曾绍标.应用数学基础(下册).天津:天津大学出版社,1994
[160]Dimitris G.Manolakis,Vinay k.Ingle,Stephen M.Kogon.统计与自适应信号处理.北京:电子工业出版社,2003
[161][美]L.科恩.时频分析:理论与应用(白居宪译).西安:西安交通大学出版社,2000
[162]张贤达.现代信号处理.北京:清华大学出版社,1994
[163]张贤达,保铮.非平稳信号处理.北京:国防工业出版社,1998
[164]成礼智,王红霞,罗永.小波的理论与应用.北京:科学出版社,2004
[165]Tommy Oberg.调制、检测与编码(何英姿等译).北京:电子工业出版社,2004
[166]康华光,陈大钦.电子技术基础模拟部分(第四版).北京:高等教育出版社,2000
[167]Simon Haykin.自适应滤波器原理(第四版)(郑宝玉译).北京:电子工业出版社,2004
[168]查光明,熊贤祚.扩频通信.西安:西安科技大学出版社,1998
[169]黄智伟.无线数字收发电路设计--电路原理与应用实例.北京:电子工业出版社,2003
[170][法]Stephane Mallat.信号处理的小波导引(杨力华等译).北京:机械工业出版社,2002
[171]沈福民.自适应信号处理.西安:西安电子科技大学出版社,2001
[172]潘仲明,王跃科,杨俊.现代测控理论基础--信号分析、处理与参数估计.长沙:国防科技大学出版社,2004
[173]余英林,谢胜利,蔡汉添.信号处理新方法导论.北京:清华大学出版社,2003
[174]程晓畅,王跃科,潘仲明.基于最小二乘估计的数据采集通道标定方法.计算机测量与控制,2005,13(9):997-999
[175]程晓畅,王跃科,苏绍景.基于相关函数包络峰细化的高精度超声测距方法.测试技术学报,2006,20(4):320-324
[176]苏绍景,程晓畅,王跃科.类GPS超声定位系统及其多基站距离估计算法研究.传感技术学报,2007,20(2):430-434
[177]程晓畅,苏绍景,王跃科.伪随机码超声扩频测距系统设计与算法研究.测试技术学报,2007,21(1):79-83
[178]苏绍景,程晓畅,王跃科.基于功率倒谱的超声测距时延估计方法研究.传感技术学报,2006,19(3):836-838
[179]程晓畅,苏绍景,王跃科.超声回波信号解调及其包络相关时延估计算法.传感技术学报,2006,19(6):2571-2573
[180]程晓畅,苏绍景,王跃科.类GPS超声定位系统中几种定位算法比较.传感技术学报,2007,20(3):698-702
[181]Cheng Xiao-chang,Pan Zhong-ming,Wang Yue-ke.6 Channels Ultrasonic Transmission and Echo Data Acquisition System Based On Wireless Control,ISTM,Dalian,China,1-4,June,Vol.1:47-52
[182]程晓畅,王跃科.类GPS超声定位系统及其两基站定位性能分析.声学与电子工程,2006(4):18-21
[183]程晓畅,王跃科.伪随机码超声扩频测距发射与接收电路设计,声学与电子工程,2007(1):42-45
[184]罗庆生,韩宝玲.一种基于超声波与红外线探测技术的测距定位系统.计算机测量与控制,2005,13(4):305-306
[185]孟立凡,郑宾,侯文.超声测距换能器及收发电路的研究.华北工学院学报,2001,22(2):87-89
[186]翁黎朗,杨立.超声波换能器驱动和接收电路的研究.集美大学学报,1998,3(4):60-64
[187]袁易全.近代超声原理与应用.北京:电子工业出版社,2004.326-406
[188]魏守水,田力军,赵淳生.超声电机阻抗匹配变压器的设计.电机与控制学报,2000,4(1):13-16
[189]洪新华,吴慎山,王庆国.超声波驱动电路的研究.河南职技师院学报,1999,27(3):78-80
[190]王清池,吴在勋.超声地形障碍检出系统换能器的研制.厦门大学学报(自然科学版),1997,36(2):229-233
[191]王松,郑正奇.超声定位车辆路径监测系统的设计.计算机测量与控制,2006,14(10):1310-1311
[192]童峰,许水源,许天增.一种高精度超声波测距处理方法.厦门大学学报(自然科学版),1998,37(4):507-512
[193]朱光文.我国海洋探测技术五十年发展的回顾与展望(一).海洋技术,1999,18(2):1-16
[194]朱光文.我国海洋探测技术五十年发展的回顾与展望(二).海洋技术,1999,18(3):1-13
[195]朱光文.我国海洋探测技术五十年发展的回顾与展望(三).海洋技术,2000,19(1):23-31
[196]李守军,包更生,吴水根.水声定位技术的发展现状与展望.海洋技术,2005,24(1):130-135
[197]吴水亭,周兴华,杨龙.水下声学定位系统及其应用.海洋测绘,2003,23(4):18-21
[198]胡利民.联合GPS和类GPS测距技术实现双星编队星座的状态确定.硕士学位论文,长沙:国防科技大学,2005
[199]明德祥.面向网络仪器的统一时间支持体系研究.博士学位论文,长沙:国防科技大学,2006
[200]Fabien Napolitano.GAPS:Global Acoustic Positioning System.Sea Technology,June 2005:51-54
[201]鲍建东.换能器的阻抗匹配设计.应用声学,1996,15(3):37-39
[202]吴运发.水声宽带换能器的匹配技术研究.声学技术.2000,19(2):87-89
[203]SN75372 Dual MOSFET DRIVER Data Sheet.Texas Instruments,July,1986
[204]徐波.超声扩频测速技术研究.硕士学位论文,长沙:国防科技大学,2005
[205]CHENG Xiao-Chang,SU Shao-Jing,WANG Yue-Ke.Research On Single Base-Station Distance Estimation Algorithm in Quasi-GPS Ultrasonic Location System,Proc.ISIST/2006..253-256
[206]SU Shao-Jing,CHENG Xiao-Chang,WANG Yue-Ke,Research On Fast Time Delay Estimation Algorithm in Quasi-GPS Ultrasonic Location System,Proc.ISTAI/2006:487-491
[207]W.Muhammad,O.Meste,H.Rix.A novel approach for joint estimation of time delay and scale factor with applications to the M-wave analysis 2001proceedings of the 23~(rd) Annual EMBS International Conference,October 25-28,2001,Istanbul,Turkey:1093-1096
[208]P.Mihajlik,M.Guttermuth,K.Seres.DSP-based ultrasonic navigation aid for the blind.IEEE Instrumentation and Measurement Technology Conference,Budapest,Hungary,May21-23,2001:1535-1540
[209]Yuu Ono,Jean Francois Moisan,Cheng-kuei Jen.Ultrasonic techniques for imaging and measurements in molten aluminum IEEE Transactions On Ultrasonics,Ferroelectrics,and Frequency Control,Vol 50,No 12,December 2003:1711-1721
[210]W.T.Kuang,A.S.Morris.Ultrasonic Doppler distance measurement technique for robot tracking system.Electronics Letters,27~(th),May 1999,Vol.35,No.11:942-943
[211]G.Hueber,T.Ostermann,T.Bauernfeind.New approach of ultrasonic distance measurement technique in robot applications.ICSP 2000:2066-2069
[212]H.Roth,K.Schilling.Navigation and docking manoeuvres of mobile robots in industrial environments.IEEE,1998:2458-2462
[213]X.Li,R.Wu,M.Sheplak.Multifrequency CW-based time-delay estimation for proximity ultrasonic sensors.IEEE,2002:53-59
[214]Ricardo Gutierrez-Osuna,Jason A.Janet,Ren C.Luo.Modeling of ultrasonic range sensors for localization of autonomous mobile robots.IEEE Transactions On Industrial Electronics,Vol.45,No.4,August 1998:654-662
[215]Ailson R.de Almeida,Eduardo O.Freire.Neural network-based geometric references recognition applied to ultrasound echo signals.Proc.43~(rd) IEEE Midwest Symp.On Circuits and Systems,Lansing ML,August 8-11,2000:1344-1347
[216] Scott Macintosh, Dipen N.Sinha, Gregory Kaduchak. Noninvasive noncontact fluid detection in submerged containers using swept frequency ultrasonic technique . 2001 IEEE Ultrasonic Symposium: 689-692
[217] M.Ihsan Ecemis, Paolo Gaudiano. Object recognition with ultrasonic sensors .IEEE,1999: 250-255
[218] Valentin Magori, Valentin R.Magori, N.Seitz. On-line determination of tyre deformation, a novel sensor principle . 1998 IEEE Ultrasonic Symposium:485-488
[219] Kazuo ISHII, Kouzou Yano. Path planning system for a mobile robot using self-organizing map . IEEE,2001: 32-37
[220] Zafiris Politis, Penny Probert. Perception of an indoor robot workspace by using CTFM sonar imaging . Proceedings of 1998 IEEE International Conference On Robotics & Automation, Leuven Belgium, May 1998: 2801-2806
[221] Jonathan Bisson, Francois Michaud, Dominic Letourneau. Relative positioning of mobile robots using ultrasounds . Proceedings of the IEEE/RSJ International Conference On Intelligent Robots and systems, Las Vegas, Nevada, October,2003: 1783-1788
[222] Angelo M.Sabatini, Alessandro Rocchi. Sampled baseband correlators for in-air ultrasonic rangefinders . IEEE Transactions On Industrial Electronics, Vol.45,No.2,April, 1998: 341-350
[223] H.K.Tonshoff, E.Bedhief, U.Kruse. Sensor systems for robotic applications under water . IEEE, 2000: 329-333
[224] Anjani RAchanta, Vittal Rao. Application of wavelet analysis in two-dimensional ultrasonic flaw detection . Proceedings of SPIE Vol.5046(2003): 132-143
[225] C.H.Chen, Tzu.Hung Cheng. Signal processing in ultrasonic NDE using time-frequency representations . SPIE Vol.292: 319-324
[226] Mokhtar Sadok. Wavelets for ultrasonic echo identification in aircraft fuel tanks .Proceedings of SPIE Vol.4738 (2002): 497-502
[227] Jonathan M.Cannata, Timothy A.Ritter, Wo-Hsing Chen. Design of efficient,broadband single-element (20-80 MHz) ultrasonic transducers for medical imaging applications. IEEE Transactions On Ultrasonics, Ferroelectrics, and Frequency Control, Vol.50, No.11, November, 2003: 1548-1557
[228] Lewis F.Brown, Joel L.Mason. Disposable PVDF ultrasonic transducers for nondestructive testing applications . IEEE Transactions On Ultrasonics,Ferroelectrics, and Frequency Control, Vol.43, No.4, July, 1996: 560-568
[229] Johann Borenstein, Yoram Koren. Error eliminating rapid ultrasonic firing for mobile robot obstacle avoidance . IEEE Transactions On Robotics and Automation, Vol.11, No.1, February, 1995: 132-138
[230] Joseph Bernard Lemay. Error Minimization And Redundancy Management For A Three Dimensional Ultrasonic Ranging System . Proceedings of 1992 IEEE/RSJ International Conference On Intelligent Robots and Systems, July,1992:837-844
[231] Anders Nilsson, Per Holmberg. Robot-sensor system integration by means of 2-D vision and ultrasonic sensing for localization and recognition of objects .Proceedings of 1993 IEEE/RSJ International Conference On Intelligent Robots and Systems, July, 1993: 1793-1799
[232] Kai-Tai Song, Wen-Hui Tang. Environment Perception for a mobile robot using double ultrasonic sensors and a CCD camera . IEEE Transactions On Industrial Electronics, Vol.43, No.3, June, 1996: 372-379
[233] P.Acevedo-Contla, D.K.Das-Gupta. Simple model for the design of ultrasonic transducers using composite piezoelectric materials . 1995 IEEE Ultrasonic Symposium: 1029-1032
[234] Tsutomu Tanzawa, Noriaki Kiyohiro,Shinji Kotani. The ultrasonic range finder for outdoor mobile robots . IEEE, 1995: 368-373
[235] Anthony S.ACAMPORA, Jack H.Winters. Three-dimensional ultrasonic vision for robotic applications . IEEE Transactions On Pattern Analysis and Machine Intelligence, Vol.11, No.3, March, 1989: 291-303
[236] A.Sennaoui, A.Kehli, A.Larouk. Time-frequency analysis by the wavelet method of the ultrasonic backscattering coefficient from blood application to red blood cell aggregation . 18~(th) Annual International Conference of the IEEE Engineering in medicine and biology society, Amsterdam, 1996: 1021-1022
[237] Christian Barat, Etienne Colle, Naima Ait Oufroukh. Toward a versatile ultrasonic sensor . IEEE, 2001: 383-391
[238] Catherine Wykes, P.Webb. Ultrasonic arrays for automatic vehicle guidance .IEEE, 1995: 1-3
[239] A.Courcelle, O.Horn. Ultrasonic data representation: application to mobile robots localisation . Proceedings of the 1998 IEEE/RSJ International Conference On Intelligent Robots and Systems, October, 1998: 1559-1564
[240] P.J.Van Der Mark. Wideband single-chip ultrasonic transceiver . Electronics Letters, 1988, Vol.24,No.24: 1516-1517
[241] Zhilun Gui, Xiaobing Hu, Longtu Li. Design and analysis of a piezoelectric ultrasonic transducer for distance measurement. IEEE, 2002: 335-338
[242] Minoru Toda. Narrowband impedance matching layer for high efficiency thickness mode ultrasonic transducers . 2001 IEEE Ultrasonic Symposium:1173-1176
[243] Russell A.Noble, Anthony D.R.Jones, Toby J.Robertson. Novel, wide bandwidth, micromachined ultrasonic transducers . IEEE Transactions On Ultrasonics,Ferroelectrics, and Frequency Control, Vol.48, No.6, November, 2001:1495-1507
[244] Valentin Magori. Ultrasonic sensors in air. 1994 Ultrasonic Symposium: 471-481
[245] Alessandro Caronti. An accurate model for capacitive micromachined ultrasonic transducers . IEEE Transactions On Ultrasonics, Ferroelectrics, and Frequency Control, Vol.49, No.2, February, 2002: 159-168
[246] Li-feng Ge. Electrostatic airborne ultrasonic transducers : modeling and characterization . IEEE Transactions On Ultrasonics, Ferroelectrics, and Frequency Control, Vol.46, No.5, September, 1999: 1120-1127
[247] Yongan Shui, Xuechang Geng, Q.M.Zhang. Theoretical modeling of resonant modes of composite ultrasonic transducers . IEEE Transactions On Ultrasonics,Ferroelectrics, and Frequency Control, Vol.42, No.4, July, 1995: 766-773
[248] P.Acevedo Contla, D.K.Das-Gupta. Simple model for the design of polymeric piezoelectric ultrasonic transducers . Acoustic Sensing and Imaging, March 1993,Conference Publication No 369: 1-6
[249] Lindsay KLeeman. Ultrasonic Autonomous Robot Localisation System. IEEE/RSJ International Workshop On Robots and Systems, September, 1989:212-219
[250] Lewis F.Brown, David L.Carlson. Ultrasound transducer models for piezoelectric polymer films . IEEE Transactions On Ultrasonics, Ferroelectrics, and Frequency Control, Vol.36, No.3, May, 1989: 313-318
[251] Angelo M.Sabatini, Enrico Spinielli. Correlation techniques for digital time-of-flight measurement by airborne ultrasonic rangefinders . IEEE, 1998:2168-2175
[252] M.A.Malik, J.Saniie, X.MJin. Gabor coefficients for estimation of arrival time and center frequency of ultrasonic echoes .1995 IEEE Ultrasonic Symposium:743-746
[253] M.A.Malik, J.Saniie. Generalized time-frequency representation of ultrasonic signals. 1993 IEEE Ultrasonic Symposium: 691-695
[254] H.Ijima, A.Ohsumi. Maximum likelihood estimation of time-delay of ultrasonic signals based on wigner distribution. SICE Annual Conference in Fukui, August 4-6, 2003: 2545-2549
[255] C.Guetbi. Methods based on wavelets for time delay estimation of ultrasound signals . IEEE, 19898: 113-116
[256] Ramazan Demirli, Jafar Saniie. Model based time-frequency estimation of ultrasonic echoes for NDE applications.2000 IEEE Ultrasonic Symposium:785-788
[257] Ramazan Demirli, Jafar Saniie. Model-based estimation of ultrasonic echoes Part I: Analysis and algorithms . IEEE Transactions On Ultrasonics, Ferroelectrics, and Frequency Control, Vol.48, No.3, May, 2001: 787-792
[258] Ramazan Demirli, Jafar Saniie. Model-based estimation of ultrasonic echoes Part II: Nondestructive evaluation applications.IEEE Transactions On Ultrasonics,Ferroelectrics, and Frequency Control, Vol.48, No.3, May, 2001: 803-811
[259] N.Michalodimitrakis, Th.Laopoulos. On the use of wavelet transform in ultrasonic measurement systems . IEEE Instrumentation and Measurement Technology Conference, Budapest Hungary , May 21-23, 2001: 589-594
[260] M.A.Malik, J.Saniie. Performance comparison of time-frequency distributions for ultrasonic nondestructive testing. 1996 IEEE Ultrasonic Symposium: 701-704
[261] F.K.Lam, C.K.Leung. Ultrasonic detection using wideband discrete wavelet transform . IEEE, 2001: 890-893
[262] A.Abbate, J.Frankel, P.Das. Wavelet transform signal processing for dispersion analysis of ultrasonic signals . 1995 IEEE Ultrasonic Symposium: 751-755
[263] Sylvie Legendre, Daniel Massicotte, Jacques Goyette. Wavelet-transform-based method of analysis for Lamb-wave ultrasonic NDE signals . IEEE Transactions On Instrumentation and Measurement, Vol.49, No.3, June, 2000: 524-530
[264] Wrya Muhammad, Olivier Meste. A pseudojoint estimation of time delay and scale factor for M-wave analysis . IEEE Transactions On Biomedical Engineering, Vol.50, No.4, April, 2003: 459-468
[265] X.X.Niu, P.C.Ching. Accurate time delay and Doppler stretch estimation in noisy environment. 1996 IEEE Tencon-Digital Signal Processing Applications: 676-680
[266] S.R.Dooley, A.K.Nandi. Adaptive time delay and Doppler shift estimation for narrowband signals . IEE Proc. Radar, Sonar Navig, Vol.146, No.5, October 1999: 243-250
[267] X.X.Niu, P.C.Ching, S.Q.Wu. Design of a wideband optimum signal for time delay and Doppler stretch measurements . 1997 IEEE International Symposium on Circuits and Systems, June 9-12, 1997, Hongkong: 2533-2536
[268] Kon Max Wong, Zhi-Quan Luo, Qu Jin. Design of optimum signals for the simultaneous estimation of time delay and Doppler shift. IEEE Transactions On Signal Processing, Vol.41, No.6, June, 1993: 2141-2154
[269] Anders Grennberg, Magnus Sandell. Estimation of subsample time delay differences in narrowband ultrasonic echoes using the Hilbert transform correlation . IEEE Transactions On Ultrasonics, Ferroelectrics, and Frequency Control, Vol.41, No.5, September, 1994: 588-595
[270] Ramazan Demirli. Model based estimation of ultrasonic echoes: Analysis,algorithms, and applications . Chicago, Illinois Institute of technology, December,2001: 1-129
[271] Daewon Kim. A novel approach to the classification of ultrasonic NDE signals . Iowa State University,2002
[272]Harold T.Vincent Ⅱ.Models,algorithms,and measurements for underwater acoustic positioning.University of Rhode Island,2001
[273]贾志军,单甘霖,程兴亚.GPS动态定位中的自适应扩展卡尔曼滤波算法.军械工程学院学报,2001,13(2):39-43
[274]霍家道,郝艳玲.导航信号卡尔曼滤波定位解算方法研究.中国航海,2004,1:44-47
[275]胡丛玮,刘大杰,姚连璧.带约束条件的自适应滤波及其在GPS定位中的应用.测绘学报,2002,31(5):39-44
[276]管旭军,芮国胜.基于UKF的单站无源定位算法.电光与控制,2004,11(1):1-3
[277]徐敬,孙永侃,王秀坤.基于测向交叉和卡尔曼滤波的多舰无源被动定位算法.现代雷达,2001,23(6):35-38
[278]张卫平,王伟策,王飞.基于扩展Kalman滤波的声阵列定位数据融合算法.解放军理工大学学报(自然科学版),2003,4(1):75-78
[279]何友,修建娟,唐小明.基于时差信息的超视距目标定位与跟踪.电子学报,2003,31(12):1917-1920
[280]王红军,徐敬.舰载无源被动定位与卡尔曼滤波.火力与指挥控制,1999,24(2):55-60
[281]张满生,张学庄,陈保平.新型GPS动态定位自适应卡尔曼滤波方法.中南工业大学学报(自然科学版),2003,34(5):543-546
[282]仲祺琪,毛卫宁.利用DOA的双基阵被动定位算法研究.声学与电子工程,2003,2:15-18
[283]邱玲,沈振康.三维纯角度被动跟踪定位的最小二乘-卡尔曼滤波算法.红外与激光工程,2001,30(2):83-86
[284]师延山,李道本,范跃祖.无线定位扩展卡尔曼滤波算法的优化.北京航空航天大学学报,2003,29(4):308-311
[285]常青,柳重堪,张其善.GPS定位与测速算法研究.北京航空航天大学学报,1998,24(5):510-513
[286]高磊,徐德民,任章.自适应推广Kalman滤波应用于水下被动目标定位.系统工程与电子技术,2001,23(5):8-11
[287]常永宇,桑林,张欣.CDMA 2000-1X网络技术.北京:电子工业出版社,2005:165-177