Doppler correction in moving narrowband ultrasonic ranging sensors for small-scale motion tracking

Narrowband ultrasonic sensors can be used for motion tracking and small-scale localization. Moving sensor nodes emitting ultrasonic waves produce a Doppler shift in the received signals. Doppler correction methods in narrowband ultrasonic motion tracking systems are explained in this letter. Two methods are suggested for Doppler compensation for small-scale localization using ultrasonic sensors. One of the methods requires a pilot carrier to be added to the transmitted signal and the other method exploits range-Doppler coupling for Doppler correction. In the simulation experiments, we compare the performance of the two methods with the traditional methods. We implement both the methods on hardware and compare the performance of the methods for ranging and localization in the presence of Doppler shift.