Trilateration in Robotic Sensing using Acoustic Sensors Errors

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Error

Reducing error in our algorithm is one of the primary goals of this project. Accountable error can be attributed to two causes; quantization and noise.

Quantization

File:Quantization_pic_1.png When our microphone hears the chirps it takes discrete samples. When we're estimating range, then, we can only place the source of each chirp at set intervals. More than likely the point we want to locate is not at one of those intervals but our algorithm will say it is. We are left, then, with a quantization error which might be as large as half the distance between samples.

Reducing this Error: ...

Noise

Our cross-correlation algorithm can be affected by noise...

Reducing this Error: ...