Kreczmer, Bogdan. “Azimuth Angle Determination for the Arrival Direction for an Ultrasonic Echo Signal”. Journal of Automation, Mobile Robotics and Intelligent Systems 11, no. 2 (June 5, 2017): 31–41. Accessed May 16, 2024. https://www.jamris.org/index.php/JAMRIS/article/view/426.