Effect of parameters of phase-modulated M-sequence signal on direction-of-arrival and localization error

Abstract

In this paper, signals for acoustic beacons with M sequence are evaluated with various parameters for self-localization of mobile robot. The effect of (i) baud rate, (ii) carrier frequency and (iii) order of M sequence on DOA estimation error and localization error are evaluated by computer simulation. As a result, localization is possible with same class or more precision compared to the result from sound beacon with three chirp signals within 5 kHz-18 kHz by choosing the appropriate parameters, which are (i)baud rate is more than around 8 kHz and (ii)carrier frequency is 10 kHz. Particularly, (i) baud rate and (ii) carrier frequency have influence on the localization error. However, the localization error do not change into even a further baud rate in this condition if baud rate is higher than carrier frequency. In this simulation, no influence is confirmed from (iii)order of M sequence. The result indicates that M sequence can be used as signal of acoustic beacons instead of chirp, which occupies frequency band.