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

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 with a quantization error which might be as large as half the distance between samples.

The following i,age illustrates this problem. The red lines represent the possible distances cross-correlation can report to us.

Reducing this Error: Increasing the sample rate reduces the space between these intervals, increasing or resolution and decreasing quantization error.

Noise

While our filters Reducing this Error: ...