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In this paper, we propose to improve an existing active beacon system, having the ultrasonic media type, which can be used for indoor localization; moreover, it utilizes pan-tilt mechanism for targeting the object. But it has the low sampling rate (time) and the normal accuracy (resolution) because the pan/tilt mechanism is operating and its processor is scheduling. What is more, it includes shortcoming such as limited arrival distance of ultrasonic signal and its high sensitivity to noises. In order to overcome these problems, we applied the multi modulation of ultra-sonic sensors, using two ultrasonic sensors with different frequencies, to considerable improve not only the sampling rate of this system but also the performance of indoor localization systems using a ultra-sonic sensor. In addition, such problems mentioned above were ameliorated using a more sophisticated microprocessor like 'DSP ' and applying the non-linear amplifier board, developed in KIST (Korea Institute of Science and Technology, Seoul, KOREA), in the signal detection part. And our system has become to estimate better because of using the estimation algorithm to the Unscented Kalman filter; consequently the positioning accuracy of this system has been increased highly through the redesigned system.