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Ultrasonic crosstalk can cause false distance measurements and reduce the work efficiency of sonar ranging system. To enhance the performance of sonar ranging system in rescue robot, quadrature phase shift keying (QPSK) excitation sequences modulated using chaotic codes are proposed to fire sonar sensors. In order to obtain the best echo correlation characteristics, a genetic algorithm (GA) is used to optimize the initial values of the chaotic codes. Real experiments have been implemented using a sonar ranging system consisting of eight-channel SensComp 600 series electrostatic sensors excited with 2ms QPSK sequences. Experimental results show that the optimized QPSK excitation sequences can make eight channels sonar ranging system work together without crosstalk

A Novel Crosstalk Elimination Method for Sonar Ranging System in Rescue Robot