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Echo Rejection Threshold

4

Preliminary Prototype | All right reserved | All Information without warranty

The Echo Rejection Threshold configuration parameter describes the lower cutoff, which tells the sensor the minimum amplitude
of received echoes to be processed. Due to the automatic noise reduction, this value is not equal to the points volume value.

Echo Rejection Threshold

Command

sReje

Effect

Sets the minimum amplitude for echoes above which they are considered valid detections. A low value will
result in a higher number of detections but also a higher probability of false detections

Parameter

5-digit unsigned integer representing the threshold

Applicable Values

Default = 1, min. = 0, max. = 20

Example

CsReje00001\r

for a threshold of 1

Low (0-1) = Low Amplitude Threshold

Medium (2-4) = Medium Amplitude Threshold

Medium (5-20) = High Amplitude Threshold

Low values for the echo rejection
threshold result in lots of instable
points. Those points are not
necessarily

noise

but

small

reflections which can not be
located continuously.

Medium values allow for the
most

versatile

sensor

configuration. Noise is not as
prominent as with lower values,
but false positives can still occur.

High threshold values enable the
detection of larger objects at
medium distances with almost
no false positives. Please note
the rate for false negatives is
increased.

⚠️

Due to the prototype characteristic of the sensor, the sensors threshold is of a linear nature and will not adjust to the 

measured distance. 

False Positives

False Negative

⚠️

Threshold settings of 0 are not recommend due to noise issues. Settings between 2 and 5 have the biggest impact.

Summary of Contents for TS3

Page 1: ... V 1 0 08 2020 Initial release PRELIMINARY PROTOTYPE The Sensor configuration changes the behavior and the data quality The Sensor can not be damaged by configuration 1 Toposens TS3 Visualizer Operation Manual and Documentation 1 Disclaimer of Liability 1 Document Version 1 Table of Contents 1 Configuration 2 Explanation of Sensor Functionality 2 Graphic Explanation 3 Number of Pulses 3 Echo Rejec...

Page 2: ... 8 min 0 max 20 Example CsPuls00010 r for 10 pulses Peak Detection Window Command sPeak Effect Sets the kernel size window width that is applied on raw ADC signals to detect valid echoes peaks in the raw ADC signal A low value will allow for better separation of multiple objects that are close to each other A high value will result in smoother and more stable detections Parameter 5 digit unsigned ...

Page 3: ...cates the sensor position and heading while the red dots show the actual object positions e g pole or sphere in this case The size of the red circles indicate the size of the real objects while the grey circles indicate the sensors perception of the acoustic reflection Less visible brighter colored circles indicate less loud echoes In the following explanations a single parameter is changed at a t...

Page 4: ...e00001 r for a threshold of 1 Low 0 1 Low Amplitude Threshold Medium 2 4 Medium Amplitude Threshold Medium 5 20 High Amplitude Threshold Low values for the echo rejection threshold result in lots of instable points Those points are not necessarily noise but small reflections which can not be located continuously Medium values allow for the most versatile sensor configuration Noise is not as promin...

Page 5: ...unsigned integer representing the window width size of the the object filter Applicable Values Default 3 min 1 max 5 Example CsPeak00003 r for size of 3 Please note the tendency of smaller objects to fuse when higher values are configured Smaller objects with similar relative position to the sensor as bigger objects are fused with the bigger object Note that each object fusion will change the resu...

Page 6: ...ts Additional post processing likely needed to filter noise This setting is enabling the lowest false positive rate while increasing the false negative rate Good for medium distance obstacle avoidance Small objects are likely to be ignored if not close to the sensor Low noise level combined with a reasonable detection area Due to the high pulsed volume accuracy issues may occur Due to the high pea...

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