Saad, Mohamed M.Mohamed M.SaadBleakley, Chris J.Chris J.BleakleyDobson, SimonSimonDobson2012-12-182012-12-182011 IEEE2011-10IEEE Transactions On Instrumentation And Measurement0018-9456http://hdl.handle.net/10197/3967This paper presents a novel method for ultrasonic range estimation. The method uses a wideband frequency-hop spread spectrum ultrasonic signal to increase robustness to noise and reverberation. The method applies cross-correlation with earliest peak search and a novel minimum variance search technique to correct the error in the cross-correlation time-of-flight estimate to within one wavelength of the carrier before applying a phase-shift technique for subwavelength range refinement. The method can be implemented digitally in software and only requires low-cost hardware for signal transmission and acquisition. Experimental results show an accuracy of better than 0.5 mm in a typical office environment.en© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksCross-correlationFrequency-hop spread spectrum (FHSS)Phase shiftRange estimationUltrasonicSignal processingFrequencies of oscillating systems--MeasurementUltrasonic wavesJournal Article60103334334110.1109/TIM.2011.21289502012-10-18https://creativecommons.org/licenses/by-nc-nd/3.0/ie/