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Sonar CE Help

You can use the „Sonar CE” application in air or in water. In case of water you need external microphone and speaker closed in water proof case. The program is using the internal sound system for sending and receiving sound to detect distance from obstructions. The main window toolbar contains the most important functions: send one chirp, sonar loop and analyze window. More advanced functions are hidden under settings menu. Additionally program is equipped with testing functions which helps to test the most important parameters of the device, crucial for the Sonar CE application.

 

 

Physical background

             

The short sound (chirp) is sent by the speaker in interesting direction. When the sound “finds” on its way any obstruction, it is reflected and comes back to the device’s microphone.  The device is in recording mode (after sending a chirp) and records the incoming sound wave. The recorded wave is correlated with the output signal (played sound data). If the recorded data have the same or similar course as played signal then the autocorrelation function returns maximum. Unfortunately the recorded signal is deformatted by the sound line (amplifiers, speakers, microphone and digitalization) and thus is not really the same.  Additionally the correlation function itself generates sinusoid like course (due to its mathematical properties) thus the correlation data needs a post processing. The correlation function can be improved by played the sound with different frequencies within the played time1. The post processing function takes absolute value of the correlation function and reduces the output data to 230 points. Every point represents the maximum value from the window operating on correlation function. For example, if the correlation function has 2300 points and the data window is 10 points wide then the first point from post processing data represents the maximum value from the first 10 point of the absolute values of the correlation data. The absolute distance depends on the time the chirp is played (longer time more sound energy is cumulated in the chirp), from sound amplitude and in small degree from chirp frequency (different absorption wave in different medium).

 

1 The speed of sound doesn’t depend on the frequency

 


Main program window. The Sonar CE application can works in two modes linear (left picture) and angular (right).

 

Menu bar and tool bar

To access additional functions, click on the menu options. This allows you to change the way the Sonar CE works, or change its working mode.

List of options in tool bar:

  • One chirp
  • Sonar loop
  • Pause of sonal loop
  • Stop of sonar loop
  • Clear the screen and the stored data
  • Linear mode
  • Angular mode

List of options in menu bar:

  • File:                open, save, exit
  • Analyze:         chirp, play recorded buffer, auto correlate, post processing,  analyze window and ruler
  • Settings:         set out signal, set wave format, set offset, set scale, use recorded chirp and info
  • Tests:            check recording, check audio system and check correlation function
  • Help:             about and help

 

Available options

 

Open and Save options allowed you to store and read from memory yours scans. The data file contains full information about scans. The data are stored as char table of the scanned size.

 

Exit closes the program and clean al buffers

 

 

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Chirp allows you to generate and record the chirp defended by default on application start or by setting is Settings menu. This option is also available from the tool bar as 1x chirp.

 

Play recorded allows you to play content of recorded buffer.

 

Correlate this option starts only correlate function. The result is stored in correlation matrix.

 

Post processing this option starts post processing routine. This routine compress the correlation function and takes the maximum value of absolute value of correlation data for given data window (calculated automatically based on in buffer size).

 

Analyze window shows the four important data: amplitude of the played chirp, amplitude of the received sound amplitude from microphone, correlation function of the microphone signal and absolute values of correlation function.  The post processing curve is displayed no beginning of the curve showing absolute value of correlation function.

 

 

 Analyze window shows the microphone signal, autocorrelation data and absolute value of autocorrelation data. Beginning of the yellow data curve are post processing data.

 

Ruler shows the distance in meters to nearest obstructions.

 

Ruler window shows the distance to nearest obstruction.

 

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Set out signal this menu window sets the most important parameters of the chirp and the record parameters.

 

Start frequency - define the beginning frequency of the chirp in Hz. The possible frequency is from range 10-40000Hz

This depends on the wave format settings. By default the application works with highest possible settings defined by wave format.

End frequency defines the final frequency of the chirp like for start frequency.

            Record time -  the time of recording the signal from microphone [ms]. the recommended values are from range of 10 to

 600 ms.

Play chirp - the time of played chirp in ms. The recommended values are between 500-4000 ms (This setting depends on the amplitude of outgoing signal and observed distance).

            Chirp up - the chirp is played from start frequency to the end frequency.

Chirp up down - the chirp is played from start frequency to the end frequency and again to the start frequency in time defined by play chirp time.

            Air/play - the environment of the acoustic waves. This is important for distance scale.

In this window also the size of in-buffer and out-buffer is displayed in bytes.

The max distance shows the maximum possible distance available with time defined in record time.

 

Settings for output signal.

 

Set wave format this window allows you to change the basic settings of the wave format. Available are following options:

- The mono/stereo option. Selection of the bar indicates stereo selection. This option gives the possibility to sampling the sound with twice the frequency selected below e.g. For 44100Hz the frequency of sampling is double 88200Hz. However to have this effect the left and right channel of device must be connected together on output as on input.

- The 8/16 bits option. Selected bar indicate 16 bites mode. 16 bits improve the quality of sampled amplitude with 256*256 resolution where 8 bits gives only 256 levels of sampled amplitude.

-The available sampling frequencies are: 8, 11.025, 22.05 and 44.1 kHz. The frequency can be doubled by selecting the mono/stereo option.

 

Set offset this window allows you to change the offset settings. Offset is a time in Bytes between the played signal and the same signal recorded by microphone. Correct setting of this value speed up the calculations. Delta offset is an acceptance of maximum positive deviation from the offset value. If the calculated offset from recorded chirp is higher than the sum of offset and delta offset then such record is repeated. On some devices the fluctuations in Bytes/s are significant and this option makes the scans more precise.

 

Set scale this option allows you to set the start of the scale to limit the background.

 

Info this option shows important information about program parameters.

-          Nr  of scans performed (the wrong scans are not counted)

-          Max correlate  maximum value of the correlation function later on this function is normalized to this value as 255,

-          Set offset set offset by default or by user in settings wave format window

-          Last offset the offset calculated from recorded data. This value is used as a start point for drawing,

-          Ave offset average value of all measured offsets

-          Dev offset standard deviation of all measured offsets

-          Buffer in size of input buffer

-          Buffer out size of output buffer

-          Time in time of recorded data

-          Time out time of chirp

-          Start frequency of the chirp

-          End frequency of the chirp