Mechanical Engineering Faculty Research


An Iterative Kalman Filter for a 3D Ultrasonic Position Estimation System

Document Type

Conference Proceeding

Publication Date



This paper describes an iterative Kalman Filter to increase the accuracy of a dynamic 3D position estimation system. The novelty of the system lies in the fact that a difference in the time of arrivals is used in conjunction with an estimated speed of sound within the system formulation, and the Kalman Filter is used to further increase the accuracy and robustness of the output. The output is a 3D position of the transmitter obtained from the difference in time of arrivals of the wave burst at multiple receivers fixed within an inertial frame. Results are provided to show the increase in accuracy and robustness along with some limitations of the system. The system has many applications the most significant being image guided surgery.

Publication Title

ASME 2007 International Mechanical Engineering Congress and Exposition



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