Usage of Median Filtering to Improve the Quality of Measurements by Ultrasonic Distance Sensors

An option has been considered to improve the quality of range measurements by ultrasonic sensors through the use of median filtering. This approach allows us to eliminate the negative feature of ultra-sonic sensors, which is that due to the characteristics of the environment in which the distance is measured, the sensor periodically determines this distance incorrectly. From a metrological point of view, this means that in a series of distance measurements, measurement results often appear that differ sharply from the rest in this series