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Ranging by Time of Arrival (TOA) of Narrow-band ultrasound (NBU) has beenwidely used by many locating systems for its characteristics of low cost andhigh accuracy. However, because it is hard to support code division multipleaccess in narrowband signal, to track multiple targets, existing NBU-basedlocating systems generally need to assign exclusive time slot to each target toavoid the signal conflicts. Because the propagation speed of ultrasound is slowin air, dividing exclusive time slots on a single channel causes the locationupdating rate for each target rather low, leading to unsatisfied trackingperformances as the number of targets increases. In this paper, we investigateda new multiple target locating method using NBU, called UltraChorus, which isto locate multiple targets while allowing them sending NBU signalssimultaneously, i.e., in chorus mode. It can dramatically increase the locationupdating rate. In particular, we investigated by both experiments andtheoretical analysis on the necessary and sufficient conditions for resolvingthe conflicts of multiple NBU signals on a single channel, which is referred asthe conditions for chorus ranging and chorus locating. To tackle the difficultycaused by the anonymity of the measured distances, we further developedconsistent position generation algorithm and probabilistic particle filteralgorithm}to label the distances by sources, to generate reasonable locationestimations, and to disambiguate the motion trajectories of the multipleconcurrent targets based on the anonymous distance measurements. Extensiveevaluations by both simulation and testbed were carried out, which verified theeffectiveness of our proposed theories and algorithms.

Locating Multiple Ultrasound Targets in Chorus