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Ultrasonic sensor/transmitter circuits

Hello, I am looking to build an indoor positioning system with the different transmitters and receivers. I plan to transmit with one transducer and receive with at least five to accurately predict its location in space. Are you able to guide me a little bit in the design of this system? I'm really not sure where to start. I understand that the transducers will operate at 40 kHz and will be powered by a 12 V input that must be changed to an AC input and amplified, but I am getting lost in the technical lingo. Would you be able to suggest anywhere that I can go to learn about the basics of a circuit like this? In layman's terms, I believe I'll need to design two separate circuits: one for sensing and one for transmitting.

Thanks,

Danny Morrow