This paper presents an outdoor localization approach utilizing ultrasonic technology for the estimation of an object's 3D coordinates. The methodology integrates Time of Arrival (TOA) and Angle of Arrival (AOA) techniques. Specifically focusing on the periodicity of ultrasonic signals, it introduces an AOA estimation method based on threshold crossing. Furthermore, the paper includes simulation results illustrating the distance error in position coordinate estimations derived from the AOA technique.
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Lim et al. (2024) studied this question.
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