Development of Autonomous Navigation System for Remote-Control Vehicles using Ultrasound Location Techniques

Results of works on acoustic location methods applied to small airborne vehicles are presented. An experimental model has been developed with an original acoustic system for detecting and identifying obstacles based on analysis of diffraction and reflection of acoustic waves. Methods for active acoustic location have been developed, using triple correlation and properties of correlation function of chirp signals reflected from a rotating propeller. A prototype of mobile acoustic sodar has been created that implements the new methods of active location. Original methods for solving acoustic diffraction problems, based on a generalization of Sommerfeld integral and saddle-point method, as well as asymptotic formulas for two-dimensional Fourier integral have been regarded. Acoustic transition radiation has been studied. New spectral peculiarities of signals reflected from a moving airborne vehicle are established, taking into account interaction of self-radiation and probing signal on nonlinearity of moving boundary.