“…However, these systems are generally said to be weak in terms of noise resistance, and to take a longer time to acquire data, because they utilize the time-division multiplexed method, which becomes more taxing as the number of objects to be measured is increased. To overcome these drawbacks, positioning systems with spread spectrum (SS) ultrasonic waves have been investigated (Hazas & Hopper, 2006), (Yamane et al, 2004), (Suzuki et al, 2009); they use code division multiple access (CDMA) methods and are more robust to noise, because they use spread spectrum ultrasonic signals. According to these studies, although the procedure of reception and positioning calculation is computed off-line, the systems are shown to be highly effective.…”