{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:30:44Z","timestamp":1760243444008,"version":"build-2065373602"},"reference-count":18,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2013,3,13]],"date-time":"2013-03-13T00:00:00Z","timestamp":1363132800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>As a ranging sensor, a continuous transmission frequency modulation (CTFM) sonar with its ability for range finding and range profile formation works effectively under stationary conditions. When a relative velocity exists between the target and the sonar, the echo signal is Doppler-shifted. This situation causes the output of the sensor to deviate from the actual target range, thus limiting its applications to stationary conditions only. This work presents an approach for correcting such a deviation. By analyzing the Doppler effect during the propagation process, the sensor output can be corrected by a Doppler factor. To obtain this factor, a conventional CTFM system is slightly modified by adding a single tone signal with a frequency that locates out-of-sweep range of the transmitted signal. The Doppler factor can be extracted from the echo. Both verification experiments and performance tests are carried out. Results indicate the validity of the proposed approach. Moreover, ranging precision under different processing setups is discussed. For adjacent multiple targets, the discrimination ability is influenced by displacement and velocity. A discrimination boundary is provided through an analysis.<\/jats:p>","DOI":"10.3390\/s130303549","type":"journal-article","created":{"date-parts":[[2013,3,13]],"date-time":"2013-03-13T12:14:49Z","timestamp":1363176889000},"page":"3549-3567","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Continuous Transmission Frequency Modulation Detection under Variable Sonar-Target Speed Conditions"],"prefix":"10.3390","volume":"13","author":[{"given":"Yang","family":"Wang","sequence":"first","affiliation":[{"name":"Key Laboratory of Noise and Vibration Research, Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190, China"},{"name":"The State Key Laboratory of Acoustics, Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jun","family":"Yang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Noise and Vibration Research, Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190, China"},{"name":"The State Key Laboratory of Acoustics, Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2013,3,13]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1109\/100.580977","article-title":"The dynamic window approach to collision avoidance","volume":"4","author":"Fox","year":"1997","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"10217","DOI":"10.3390\/s91210217","article-title":"Sonar sensor models and their application to mobile robot localization","volume":"9","author":"Burguera","year":"2009","journal-title":"Sensors"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1016\/S0921-8890(03)00096-4","article-title":"Navigating an outdoor robot along continuous landmarks with ultrasonic sensing","volume":"45","author":"Ratner","year":"2003","journal-title":"J. Robot. Auton. Syst."},{"key":"ref_4","unstructured":"Chong, K.S., and Kleeman, L. (1997, January 20\u201325). Sonar Based Map Building for a Mobile Robot. Albuquerque, NM, USA."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"895","DOI":"10.1177\/02783640022067850","article-title":"Feature extraction from a broadband sonar sensor for mapping structured environments efficiently","volume":"19","author":"Kao","year":"2000","journal-title":"Int. J. Robot. Res."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"10683","DOI":"10.3390\/s101210683","article-title":"Wall-corner classification using sonar: A new approach based on geometric features","volume":"10","author":"Martinez","year":"2010","journal-title":"Sensors"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"3266","DOI":"10.1121\/1.429399","article-title":"Auditory perception of objects by blind persons, using a bioacoustics high resolution air sonar","volume":"107","author":"Kay","year":"2000","journal-title":"J. Acoust. Soc. Am."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"9","DOI":"10.1109\/MRA.2003.1191706","article-title":"NavBelt and the Guide-Cane obstacle-avoicance systems for the blind and visually impaired","volume":"10","author":"Ulrich","year":"2003","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"689","DOI":"10.1121\/1.419658","article-title":"Biomimetic sonar recognizes objects using binaural information","volume":"102","author":"Kuc","year":"1997","journal-title":"J. Acoust. Soc. Am."},{"key":"ref_10","unstructured":"Kleeman, L., and Kuc, R. (1994, January 8\u201313). An Optimal Sonar Array for Target Localization and Classification. San Diego, CA, USA. Volume 4."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Politis, Z., and Probert, P. (1998, January 16\u201320). Perception of An Indoor Robot Workspace by Using CTFM Sonar Imaging. Leuven, Belgium. Volume 4.","DOI":"10.1109\/ROBOT.1998.680475"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Politis, Z., and Probert, P. (1999, January 10\u201315). Modeling and Classification of Rough Surfaces Using CTFM Sonar Imaging. Detroit, MI, USA. Volume 4.","DOI":"10.1109\/ROBOT.1999.774051"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"245","DOI":"10.1109\/7361.983464","article-title":"Plant acoustic density profile model of CTFM ultrasonic sensing","volume":"1","author":"McKerrow","year":"2001","journal-title":"IEEE Sens. J."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Zhenwei, M., Wei, J., Yong, X., and Jun, Y. (2009). Human face classification using ultrasonic sonar imaging. Jpn. J. Appl. Phys., 48.","DOI":"10.1143\/JJAP.48.07GC11"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"179","DOI":"10.1016\/0041-624X(86)90089-2","article-title":"New dual-sweep receiver for CTFM sonar","volume":"24","author":"Do","year":"1986","journal-title":"Ultrasonics"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"1267","DOI":"10.1109\/JSEN.2006.881419","article-title":"Classifying surface roughness with CTFM ultrasonic sensing","volume":"6","author":"McKerrow","year":"2006","journal-title":"IEEE Sens. J."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"270","DOI":"10.1049\/ip-f-1.1984.0043","article-title":"Continuous transmission fm sonar with one octave bandwidth and no blind time","volume":"131","author":"Gough","year":"1984","journal-title":"IEE Proc. Commun. Radar Signal Process."},{"key":"ref_18","unstructured":"Morse, P.M., and Ingard, K.U. (1968). Theoretical Acoustics, McGraw-Hill."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/3\/3549\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:45:30Z","timestamp":1760219130000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/3\/3549"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,3,13]]},"references-count":18,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2013,3]]}},"alternative-id":["s130303549"],"URL":"https:\/\/doi.org\/10.3390\/s130303549","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2013,3,13]]}}}