This work proposes a new positioning method based on multiple ultrasonic sensors for\nthe autonomous mobile robot. Unlike the conventional ultrasonic positioning methods, this new\nmethod can realize higher accuracy ultrasonic positioning without additional temperature\ninformation. Three ultrasonic sensors are used for positioning. A generalized measurement model\nis established for general sensor configuration. A simplified measurement model, which considers\nthe computational complexity, is also established for linear/simplified sensor configuration. Three\ntime-of-flight signals are obtained from the three ultrasonic sensors. The coordinates of the target\nare calculated by the ratios of time-of-flights. Positioning experiments were carried out to verify the\nfeasibility and effectiveness of the proposed method. Experimental results show that the new\nultrasonic positioning method is effective, both the two established models can implement\npositioning successfully, and the positioning accuracy is satisfactory. Compared with the\nconventional ultrasonic positioning method with the default ultrasonic velocity, the positioning\naccuracy is greatly improved by the proposed method. Compared with the ultrasonic positioning\nmethod with additional temperature compensation, the results obtained by the proposed method\nare comparable.
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