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Sistema de Localização com Ultra-sons

In this paper, we present a robot location systemusing ultrasonic beacons. The robot-beacon distance is computed from the measured time-of-flight of the sound waves.In order to distinguish the different beacons we used BinaryPhase Shift Keying (BPSK) modulation with Gold sequencesas the modulated signal. The robot uses Differencial BPSK(DBPSK) demodulation and a match-filter to detect the emittedpulses. The pos...