Menu
Publications
2024
2023
2022
2021
2020
2019
2018
2017
2016
2015
2014
2013
2012
2011
2010
2009
2008
2007
2006
2005
2004
2003
2002
2001
Editor-in-Chief
Nikiforov
Vladimir O.
D.Sc., Prof.
Partners
doi: 10.17586/2226-1494-2019-19-2-326-332
SIGNAL FILTRATION ALGORITHMS FOR ULTRASONIC SENSORS IN OBSTACLE DETECTION DEVICES
Read the full article
';
Article in Russian
For citation:
Abstract
For citation:
Sachkov M.Yu., Yusupova A.Yu. Signal filtration algorithms for ultrasonic sensors in obstacle detection devices. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2019, vol. 19, no. 2, pp. 326–332 (in Russian). doi: 10.17586/2226-1494-2019-19-2-326-332
Abstract
Subject of Research. The paper proposes a method and an algorithm for reducing the signal noise from an ultrasonic sensor of module detecting obstacles for people with visual disabilities. Through vibrations the sensor notifies a person of objects that are stationary or moving in front of him at low speed. Method. The proposed algorithm contains a median digital filter. The filter gives the possibility to eliminate random fluctuations of the sensor output signal owing to the fact that non-informative objects and the intrinsic noise of the devices come in view. The proposed device enables the person to abandon the sound detectors (headphones) and transmit information about the environment through a vibration motor, attached to the person’s forearm. Main Results. A mock-up of functional device is designed and manufactured. Ultrasonic HC-SR04 sensor is applied in the item mock-up. For the signal processing, the “Arduino Nano” board was used. The proposed algorithm is programmed on the board using the MatLab software package. By the known method parameters were calculated that ensure the operability of the ultrasonic sensor for various environmental parameters. The results of ultrasonic sensor signal processing by digital filters are presented. It is shown that the standard deviation of the measured parameters (distance) is reduced by more than twice. The results of the sensor signal processing of the item mock-up in the laboratory for stationary objects and objects with low linear velocity (up to 1 m/s) are presented. Practical Relevance. The device being developed contributes to improved navigation accuracy for the movement of people with visual disabilities.
Keywords: digital filtering, quantized signal, median filter, inclusive formation, linear filtration
References
References
-
Ruj da Silva Frejtash D. Guidance, navigation and information system especially adapted for blind or partially sighted people. Patent RU2490694, 2013.
-
Shapiro V.A. Method of blind person orientation and device for implementing it. Patent RU2451501, 2012.
-
Telesh V.A., Shabakov E.I. Infared radar for people with weak sight. Patent RU2359287, 2009.
-
Vyakhyakuopus E., Kantor V.Z. Social Rehabilitation of Persons with Disabilities with Sensory, Motor and Intellectual Impairments. Moscow, Papirus Publ., 2009, 304 p. (in Russian)
-
Litvak A.G. Psychology of the Blind and Visually Impaired. St. Petersburg, RSPU Publ., 1998, 271 p. (in Russian)
-
Malinovskaya N.D. Psychology of development of blind and visually impaired people. Medline.ru, 2001, vol. 2, pp. 141–143. (in Russian)
-
Gaunes F. Verbal guidance rules for a localized wayfinding aid intended for blind-pedestrians in urban areas. Universal Access in the Information Society, 2006, no. 4, pp. 338–353. doi: 10.1007/s10209-003-0086-2
-
Schinazi V., Thrash T., Chebat D. Spatial navigation by congenitally blind individuals. Wiley Interdisciplinary Reviews: Cognitive Science, 2016, vol. 7, no. 1, pp. 37–58. doi: 10.1002/wcs.1375
-
Kyung-Wook N., Sun-Kyun K., Dong-Hyuk L., Jangmyung L. Vibration pattern for the implementation of Haptic Joystick. Lecture Notes in Computer Science, 2013, vol. 8102, pp. 55–65. doi: 10.1007/978-3-642-40852-6_8
-
Bourbakis N.G., Kavraki D. A 2D vibration array for sensing dynamic changes and 3D space for Blinds’ navigation. Proc. 5th IEEE Symposium on Bioinformatics and Bioengineering, BIBE’05. Minneapolis, USA, 2005. doi: 10.1109/bibe.2005.1
-
Yuldashev M.N. Ultrasound systems for determining the spatial position of a moving object. Proc. 17th Scientific-Technical Conf. High Technologies and Intelligent Systems. Moscow, 2015, pp. 465–472. (in Russian)
-
Devillard N. Fast median search: an ANSI C implementation, 1998, 14 p.
-
Harres D. Median filters - an efficient way to remove impulse noise, 2012, 8 p.
-
Welch G., Bishop G. An Introduction to the Kalman Filter. SIGGRAPH, ACM,2001, 81 p.
