Simulating ultrasonic signals using ray tracing

A system comprising one or more processors to:

• ray trace, for a virtual ultrasonic sensor emitter, a plurality of rays through a virtual simulation environment from an ultrasonic sensor emitter to one or more ultrasonic sensor receivers to compute a plurality of contribution energies representing an attenuation of an initial energy level of the plurality of rays, wherein an individual ray of the plurality of rays represents a wave packet comprising a plurality of spectral components based at least on a representation of a modulated sonic waveform;
• and
• generate one or more ultrasonic sensor measurement outputs based at least on computing a response of the one or more ultrasonic sensor receivers to an acoustic waveform determined based on the profile.

A method comprising:

• generating one or more ultrasonic sensor measurement output signals based at least on computing a response of a sensor receiver to an acoustic waveform, wherein the acoustic waveform is determined based at least on aggregating a plurality of contribution energies in a frequency domain, the plurality of contribution energies computed based at least on ray tracing a plurality of rays representing a model spectrum comprising a frequency domain representation of a modulated sonic waveform in a simulated environment.