Ground velocity sensor with drop-out detection

• US 4,728,954 A
• Filed: 12/20/1984
• Issued: 03/01/1988
• Est. Priority Date: 12/20/1984
• Status: Expired due to Term

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Penfold, Garn F., Ferguson, Larry W., Phelan, James J.
• Primary Examiner(s): Tubbesing, T. H.
• Assistant Examiner(s): Gregory, Bernarr Earl
• Application Number:
  US06/684,217
• Time in Patent Office: 1,167 Days
• Field of Search: 343/8, 367/91, 367/97, 342/70-72, 342/104, 342/114-117, 342/195, 342/89, 342/91, 342/92, 342/103
• US Class Current: 342/115
• CPC Class Codes: G01S 15/60 wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track

Abstract

A vehicle-mounted ultrasonic velocity sensor includes an ultrasonic transmitter and receiver coupled to transmit and receive horns. In one embodiment, a phase-locked-loop signal processing circuit converts the transmitted and reflected frequencies into a signal indicative of the vehicle velocity. In another embodiment, velocity data is obtained by measuring the period of a certain number of cycles of the reflected signal using a pair of counters, one counting at a rate equal to the reflected frequency, the other counting at a fixed rate. In both embodiments, the variable magnitude reflected signal is applied to an input of a drop-out detection circuit whose output is then connected to an input or inputs of the velocity determining circuits to prevent velocity detection during dropout periods.

The velocity sensor may be implemented utilizing radar components.

Claims

1. In a radar or sonic velocity sensor for sensing the velocity of an object moving relative to the sensor, the velocity sensor being of the type having a single transmitter for directing a transmit frequency signal towards the object and having a single receiver for receiving a variable magnitude unmixed signal reflected from the object, the velocity sensor having first means for determining velocity data from a velocity dependent frequency derived from the variable magnitude unmixed signal reflected from the object and from a predetermined fixed frequency signal, said first means operating without mixing the variable magnitude signal with the fixed frequency signal and having second means for limiting the effect of reflected signal degradation upon derivation of the velocity data, the improvement wherein the variable magnitude reflected signal is received by an input of the second means and the second means has an output coupled to an input of the first means.

2. The velocity sensor of claim 1, wherein the second means comprises:

a drop-out detector for sensing fluctuations in the average magnitude of the reflected signal and for generating a drop-out signal only when the average magnitude is below a predetermined threshold; and

the first means comprises a phase-locked-loop circuit responsive to the velocity dependent frequency for generating an output signal which varies in response to changes in the velocity dependent frequency and thus, to changes in object velocity, the phase-locked-loop circuit including hold means responsive to the dropout detector for preventing variations of the output signal when the drop-out detector is generating the first signal.

3. The velocity sensor of claim 2, wherein the drop-out detector comprises:

a rectifier for rectifying the reflected signal; and

a comparator having a first input coupled to receive said predetermined threshold, a second input coupled to receive the rectified reflected signal and an output which is coupled to the hold means.

4. The velocity sensor of claim 1, wherein:

the first means comprises period measuring means for measuring the period of a predetermined number of cycles of said velocity dependent frequency; and

the second means includes means for preventing the measured period from being influenced when the reflected signal has a magnitude which falls below a threshold.

5. A radar or sonic velocity sensor for sensing the velocity of an object moving relative to the sensor, the velocity sensor comprising:

first means for determining velocity data from a velocity dependent frequency derived from a variable magnitude signal reflected from the object and from a predetermined fixed frequency, the first means operating without mixing the variable magnitude signal with the fixed frequency; and

second means for limiting the effect of reflected signal degradation upon derivation of the velocity data, the variable magnitude reflected signal being received by an input of the second means and the second means having an output coupled to an input of the first means;

the second means comprising a drop-out detector for sensing fluctuations in the average magnitude of the reflected signal and for generating a drop-out signal only when the average magnitude is below a predetermined threshold, the drop-out detector comprising a rectifier for rectifying the reflected signal, an averaging circuit for generating an average signal representing an average amplitude of the rectified signal, and a comparator having a first input coupled to receive said threshold, a second input coupled to receive the average signal and an output which is coupled to the hold means;

the first means comprising a phase-locked-loop circuit responsive to the velocity dependent frequency for generating an output signal which varies in response to changes in the velocity dependent frequency and thus, to changes in object velocity, the phase-locked-loop circuit including hold means responsive to the drop-out detector for preventing variations of the output signal when the drop-out detector is generating the first signal.

6. A radar or ultrasonic velocity sensor for sensing the velocity of an object moving relative to the sensor, the velocity sensor comprising:

first means for determining velocity data from a velocity dependent frequency derived from a variable magnitude signal reflected from the object and from a predetermined fixed frequency; and

second means for limiting the effect of reflected signal degradation upon derivation of the velocity data, the variable magnitude reflected signal being received by an input of the second means and the second means having an output coupled to an input of the first means;

the second means comprising a drop-out detector for sensing fluctuations in the average magnitude of the reflected signal and for generating a drop-out signal only when the average magnitude is below a predetermined threshold;

the first means comprising a phase-locked-loop circuit responsive to the velocity dependent frequency for generating an output signal which varies in response to changes in the velocity dependent frequency and thus, to changes in object velocity, the phase-locked-loop circuit including hold means responsive to the drop-out detector for preventing variations of the output signal when the drop-out detector is generating the first signal;

the phase-locked-loop circuit comprising;

a phase comparator with one input coupled to receive the velocity dependent frequency, an output and another input;

a voltage controlled oscillator with an output coupled to the other input of the phase comparator and an input;

a switch having a first terminal coupled to the output of the phase comparator, a second terminal, and a third terminal coupled to receive the drop-out signal, the switch being operable to connect and disconnect the first and second terminals as a function of the drop-out signal which is applied to its third terminal;

an integrator having an input coupled to the second terminal of the switch and having an output; and

a summing amplifier having a first input coupled to receive the output of the phase comparator, a second input coupled to receive the output of the integrating amplifier and an output coupled to the input of the voltage controlled oscillator.

7. A radar or sonic velocity sensor for sensing the velocity of an object moving relative to the sensor, the velocity sensor being of the type having a single transmitter for directing a transmit frequency signal towards the object and having a single receiver for receiving a variable magnitude unmixed signal reflected from the object, the velocity sensor comprising:

first means for determining velocity data from a velocity dependent frequency derived from the variable magnitude signal reflected from the object and from a predetermined fixed frequency signal, the first means operating without mixing the variable magnitude signal with the fixed frequency signal; and

second means for limiting the effect of reflected signal degradation upon derivation of the velocity data, the variable magnitude refected signal being received by an input of the second means and the second means having an output coupled to an input of the first means;

the velocity sensor further comprising;

a first circuit responsive to the fixed frequency signal for generating a first signal proportional to the fixed frequency signal;

a drop-out detector for sensing fluctuations in the average magnitude of the reflected signal and for generating a drop-out signal only when the sensed magnitude is below a predetermined threshold;

a second circuit responsive to the velocity dependent frequency for generating a second signal which varies in response to changes in the velocity dependent frequency, the second circuit including a hold circuit for preventing variation of the second signal in response to generation of the drop-out signal; and

a third circuit for generating an output signal with a magnitude which is proportional to the object velocity and which is a function of the first and second signals.

8. The velocity sensor of claim 7, wherein:

the first and second circuits each comprise a phase-locked-loop.

9. The velocity sensor of claim 7, wherein the drop-out detector comprises:

a rectifier for rectifying the reflected signal; and

a comparator having a first input coupled to receive said predetermined threshold, a second input coupled to receive the rectified reflected signal and an output which is coupled to the hold circuit.

10. The velocity sensor of claim 7, wherein the second circuit comprises:

a phase comparator with an input coupled to receive the reflected signal and an output;

a voltage controlled oscillator with an output coupled to another input of the phase comparator and an input;

a switch having a first terminal coupled to the output of the phase comparator, a second terminal, and a third terminal coupled to receive the drop-out signal, the switch being operable to connect and disconnect the first and second terminals as a function of the drop-out signal which is applied to the third terminal;

an integrator having an input coupled to the second terminal of the switch and an output; and

a summing amplifier having a first input coupled to receive the output of the phase comparator, a second input coupled to receive the output of the integrating amplifier and an output coupled to the input of the voltage controlled oscillator.

11. A radar or sonic velocity sensor for sensing the velocity of an object moving relative to the sensor, the velocity sensor comprising:

first means for determining velocity data from a velocity dependent frequency derived from a variable magnitude signal reflected from the object and from a predetermined fixed frequency, the first means operating without mixing the variable magnitude signal with the fixed frequency; and

second means for limiting the effect of reflected signal degradation upon derivation of the velocity data, the variable magnitude reflected signal being received by an input of the second means and the second means having an output coupled to an input of the first means;

the first means comprising first and second counters, the first counter receiving the velocity dependent frequency and establishing a variable length time period corresponding to a predetermined number of cycles of the velocity dependent frequency, the second counter receiving the fixed frequency and counting at said fixed frequency for said established time period, the contents of said second counter at the end of said time period being indicative of the object velocity; and

the second means comprising a drop-out circuit for inhibiting the first and second counters when a magnitude of the reflected signal drops below a predetermined threshold.

12. The velocity sensor of claim 11, further comprising:

a flip-flop with a clock input coupled to receive the velocity dependent frequency, a set input, and a Q output, the second counter having an inhibit input coupled to the Q output of the flip-flop and a clock input coupled to receive the fixed frequency; and

the first counter having an inhibit input coupled to the Q output of the flip-flop, a clock input coupled to receive the velocity dependent frequency and a 0-out terminal coupled to the set input of the flip-flop, the 0-out terminal changing state at the end of said time period so that in response, the flip-flop Q output and the inhibit inputs change from a first state to a second state, thereby preventing further counting of the first and second counters.

13. The velocity sensor of claim 12, further comprising:

a first monostable multivibrator having an input coupled to the 0-out terminal of the first counter and having an output; and

a second monostable multivibrator having an input coupled to the output of the first monostable multivibrator and having an output, the first and second counters each having a preset input coupled to the output of the second monostable multivibrator, the state change of the 0-out of the first counter causing the first monostable multivibrator to fire, which, in turn, causes the second monostable multivibrator to fire, the firing of the second monostable multivibrator causing the first and second counters to be reset to first and second initial values, respectively.

14. The velocity sensor of claim 13, further comprising:

a latch with data inputs coupled to receive the contents of the second counter and with a read input coupled to the output of the first monostable multivibrator so that firing of the first monostable multivibrator causes the latch to read and store therein the contents of the second counter.

15. The velocity sensor of claim 14, wherein:

the second monostable multivibrator is triggered to begin firing at the end of the firing period of the first monostable multivibrator so that the latch reads the second counter contents before the second counter is reset.

16. The velocity sensor of claim 13, further comprising:

an OR gate with a first input coupled to the output of the second monostable multivibrator, with an output coupled to the preset inputs of the first and second counters, and with a second input;

a resistor coupled between ground and the second OR gate input;

a switched terminal which is energized when system power is turned on; and

a capacitor coupled between the second input of the OR gate and said switched terminal so that when the switched terminal is energized, a momentary signal is transmitted through the capacitor and OR gate to the preset inputs to thereby reset the first and second counters to their initial values upon system power turn-on.

17. The velocity sensor of claim 12, wherein the drop-out circuit comprises:

a sensing circuit for generating a drop-out signal when a magnitude of the reflected signal drops below the threshold.

18. The velocity sensor of claim 17, wherein:

the flip-flop has a data input coupled to receive the drop-out signal so that on the next cycle of the velocity dependent frequency, the drop-out signal forces the Q output of the flip-flop to the second state, thereby inhibiting both counters.

19. A radar or sonic velocity sensor for sensing the velocity of an object moving relative to the sensor, the velocity sensor comprising:

first means for determining velocity data from a velocity dependent frequency derived from a variable magnitude signal reflected from the object and from a predetermined fixed frequency, the first means operating without mixing the variable magnitude signal with the fixed frequency; and

second means for limiting the effect of reflected signal degradation upon derivation of the velocity data, the variable magnitude reflected signal being received by an input of the second means and the second means having an output coupled to an input of the first means;

the first means comprising period measuring means for measuring the period of a predetermined number of cycles of said velocity dependent frequency, the period measuring means comprising a first counter counting said predetermined number of cycles at a rate equal to the velocity dependent frequency, and a second counter counting at a constant rate for said period; and

the second means including means for preventing the measured period from being influenced when the reflected signal has a magnitude which falls below a threshold.

20. The velocity sensor of claim 19, further comprising:

memory means for storing the contents of the second counter, the velocity sensor operating so that the second counter contents are stored in the memory means at the end of every measured period.

21. The velocity sensor of claim 19, wherein the means for preventing comprises:

means for comparing a magnitude of the reflected signal to the threshold and for generating a drop-out signal when the magnitude falls below the threshold.

22. The velocity sensor of claim 21, wherein the means for preventing further comprises:

a bistable circuit having a clock input coupled to receive the reflected signal, having a data input coupled to receive the drop-out signal and having an output coupled to inhibit inputs of both the first and second counters, generation of a drop-out signal forcing the bistable output to a known state which prevents the first and second counters from counting.

23. The velocity sensor of claim 22, wherein:

the first counter has an output which changes state at the end of said period, the bistable circuit also having a set input coupled to the first counter output so that the bistable output changes to said known state at the end of said period.

24. The velocity sensor of claim 23, wherein:

the first and second counters each have preset inputs which cause the first and second counters to be initialized to predetermined first and second numbers, respectively, when a preset signal is applied thereto.

25. The velocity sensor of claim 24, further comprising:

a first monostable multivibrator having an input coupled to the first counter output and having an output; and

a second monostable multivibrator having an input coupled to the output of the first monostable multivibrator and having an output coupled to the preset inputs of the first and second counters.

26. The velocity sensor of claim 25, further comprising:

a latch for receiving and storing the contents of the second counter, the latch having a read input coupled to the output of the first monostable multivibrator.