@conference {977, title = {Bearing estimation algorithm based on spectral analysis of the ultrasonic received echoes}, booktitle = {2010 IEEE International Symposium on Industrial Electronics (ISIE 2010).}, year = {2010}, month = {07/2010}, pages = {1-4}, isbn = {978-1-4244-6849-2}, author = {C. Diego and {\'A}lvaro Hern{\'a}ndez and A. Jim{\'e}nez and Joaquin Aparicio and E. Garc{\'\i}a and Daniel Ruiz and Fernando J. {\'A}lvarez} }