METHOD OF DETERMINING DISTANCE USING SONAR Russian patent published in 2017 - IPC G01S15/08 

FIELD: physics.

SUBSTANCE: method of determining distance using sonar comprises emitting a probing signal at a time T_em, receiving an echo signal, spectral analysis of the echo signals, determining distance D_det at the moment when the amplitude of the echo signal T_ex exceeds the threshold, determining radial velocity V_”р.ц.” based on the offset of the spectral echo signal relative to the frequency of the emitted signal, measuring own velocity V_own, measuring the heading angle of the object Q⁰, determining radial velocity of approaching the object V_r.own=V_owncosQ⁰, measuring distance of movement of the sonar towards the object over the propagation time D_son=(T_ex-T_em)V_owncosQ⁰, determining distance of movement of the object over the time of propagation of the echo signal from the object to the sonar D_ob=0.5(T_ex-T_em)V_r.ob, and the current distance to the object is determined as D_cur=D_det-D_son±D_ob.

EFFECT: use of the disclosed measurement and calculation procedures provides more accurate determination of distance, the estimate of which takes into account change in distance due to own movement and movement of the target.

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