The Doppler effect is a very useful phenomenon in both radar and sonar systems for measuring the speed of objects. Chirps have traditionally been used in these systems due to the good properties of their compressed pulse. However, these signals when emitted and/or received in motion can suffer from Range-Doppler Coupling (RDC) influencing the Time of Flight (ToF) estimation. This influence is more accentuated in the acoustic systems especially in those developed in the air environment, such as sonar or acoustic positioning systems.

This work proposes the use of a Doppler effect compensation algorithm that allows ultrasonic positioning of moving objects indoors. For this, a signal has been designed consisting of a chirp and a carrier pulse that allows to take advantage of the good qualities of the chirp, at the same time that the carrier pulse measures the speed between the emitter and receiver and from it correct the RDC suffered by the chirp. By obtaining the ToF corrected for each of the emitting beacons it is possible to position the receiver in motion.

Simulations and experiments have been conducted to corroborate the good performance of the proposed algorithm, obtaining the receiver position with centimeter accuracy up to 2 m/s.

在雷达和声纳系统中，多普勒效应都是用于测量物体速度的非常有用的现象。由于其压缩脉冲的良好特性，传统上在这些系统中使用了线性调频脉冲。但是，这些信号在运动中发射和/或接收时，可能会受到距离多普勒耦合（RDC）的影响，从而影响飞行时间（ToF）估算。这种影响在声学系统中尤其是在声环境或声学定位系统等空气环境中发展的系统中更加突出。

这项工作建议使用多普勒效应补偿算法，该算法允许在室内对移动物体进行超声定位。为此，设计了一个信号，包括一个线性调频脉冲和一个载波脉冲，可以利用线性调频脉冲的良好质量，同时载波脉冲可以测量发射器和接收器之间的速度，并由此校正RDC受the之苦。通过获得针对每个发射信标校正的ToF，可以使接收器处于运动状态。

为了验证所提出算法的良好性能，已经进行了仿真和实验，以高达2 m / s的厘米精度获得了接收器位置。