针对超声波传感器测量过程中方位角存在不确定性的问题，提出了一种基于超声反射波到达时间（Time of Arrival，TOA）的目标距离及方位角的测量方法，并据此发展了基于超声探测的环境感知方法.基于混合高斯拟合对回波信号进行处理，消除了信号串扰问题，提高了目标距离和方位信息的测量精度.基于传感器波束角的特性，实现了不同距离下目标的同时测量.通过引入“不确定度”，构建信度分配函数，采用DSmT（Dezert-Smarandache Theory）方法进行数据融合，实现地图更新.搭建了实验装置与实验环境，并对相关方法进行了实验验证，实验结果表明，通过135次测量即可实现对环境基本轮廓的建图，建图误差在3 cm以内.
Abstract:
In order to solve the uncertainty of azimuth in the ultrasonic sensor measurement process， a target distance and azimuth measurement method based on time of arrival （TOA） is proposed， and an environment sensing method based on ultrasonic detection is developed. The echo signal is processed based on the mixed Gaussian fitting， which eliminates the problem of signal crosstalk and improves the measurement accuracy of target distance and azimuth information. Based on the characteristics of the sensor beam angle， the simultaneous measurement of targets at different distances is achieved. By introducing “uncertainty”， a set of belief assignment functions is defined， and the DSmT（Dezert-Smarandache Theory） method is used for data fusion to realize map updates. Finally， the experimental device and environment are constructed for verification， and the result shows that the basic contour of the environment can be built through 135 measurements， and the mapping error is less than 3 cm.
