An object locating method with uncertainties applied to an ultrasonic multi-sensor system

We present a model-based iterative algorithm for estimating the position and orientation of regular objects applied to multiple ultrasonic distance measurements. It is based on standard minimum error covariance estimation that minimizes the weighted square sum of the measures reflecting errors between the real and nominal objects. A discussion is also provided about the use of the variance/covariance estimate as a measure of uncertainty in designing the configuration of the ultra-sonic multi-sensor system.