Abstract: An electronic device for determining a distance of a drone from an obstacle, the electronic device comprising: an emission module to command the emission of an ultrasound signal toward the obstacle; a reception module to receive a signal representative of an ultrasound signal reflected by the obstacle; a calculation module to calculate the distance of the drone from the obstacle, from the received signal; and a filtering module comprising at least one filter matched to a respective Doppler offset, each matched filter generating a respective filtered signal as a function of a convolution product of the emitted ultrasound signal, to which the respective Doppler offset is applied, with the received ultrasound signal; the calculation module then calculating the distance of the drone from the obstacle, from the filtered signal(s) from the filtering module.