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.

Description:
BACKGROUND OF THE INVENTION 
     This invention relates to a sensor for sensing the relative velocity between one object moving relative to another, such as the ground velocity of a vehicle, such as an agricultural vehicle. 
     On most agricultural and off-highway equipment in use today, vehicle speed or velocity is sensed by a magnetic pickup which senses the wheel speed. However, there are problems with this measurement technique. For example, the rear or driving wheels can slip relative to the ground, therefore producing erroneous ground speed readings. When sensing ground speed from the front wheels, the front wheels may be off the ground at times, thus not rotating at true ground speed. As a result of steerage, the front wheels may not track ground speed because of wheel skidding. 
     Because of the inaccuracies introduced by this type of ground speed measurement, it cannot be effectively used as an input parameter for closed loop control systems such as spraying, planting, and other implement or vehicle controls. To solve these problems, Doppler-type ground speed sensing systems have been proposed. The velocity, Vg, can be determined from the frequency shift between the received and transmitted signals, Δf, by a modified Doppler equation: 
     
         Vg=(cΔf)÷(ft 2 cos α)                      (1) 
    
     where α is the angle of the signal transmission axis from horizontal, where c is the speed of sound, and where ft is the transmitted signal frequency. 
     A proposed Doppler-type ultrasonic ground velocity sensing system is described in U.S. patent application, Ser. No. 609,626 filed 14 May 1984, now abandoned, and assigned to the assignee of the present application. This and other speed sensing systems utilize phase-locked-loops (PLL) in the signal processing circuitry. In such systems, the magnitude of the received signal can fluctuate considerably in amplitude due to variations in the reflectivity of the ground and due to momentary destructive interference among wave fronts from the various reflecting areas of the ground. Large fluctuations in the receive signal magnitude can cause periods of &#34;drop-out&#34; during which the received frequency is not detectable because the received signal magnitude is too low. These periods of signal drop-out can cause such systems to produce an erroneous or biased velocity output signal. To be more specific, the low magnitude receive signal can cause the PLL to drop out of its locked state, with the result that the output voltage from the PLL goes to zero. Thus, in operation, the PLL output signal will fluctuate between zero and a correct indication of ground speed. When this output signal is averaged or filtered, the result will be an erroneously low indication of ground speed. 
     U.S. Pat. No. 3,893,076, issued July 1, 1975 to Clifford, teaches a digital speed sensing system wherein counters 114 and 116 contain numbers which represent the time intervals corresponding to successive groups of 5 cycles of a mixed Doppler frequency. These numbers are indicative of the sensed speed. Signal drop-out compensation is provided by a subtractor, comparator and logic circuit coupled between the counters and the system output. If the difference between the numbers in the two counters is large enough, such as when signal drop-out occurs, then the subtractor and comparator operate via logic gates to prevent updating of a register into which one of the numbers is otherwise placed. Such a system has a drawback in that, because the drop-out detection circuit is &#34;downstream&#34; of the counters, it is possible that two consecutive intervals could be the same, even though both intervals contain signal drop-outs. If this occurs, then the register would be updated with a misleading number which would not truly represent the actual speed. Furthermore, such a system is complex and would be expensive to produce. 
     SUMMARY OF THE INVENTION 
     An object of the present invention is to provide a speed sensing system with a simple and reliable system for compensating for fluctuations in the amplitude of the reflected or received signal. 
     Another object of the present invention is to provide a Doppler-type speed sensing system which is insensitive to transmit frequency and component drift. 
     Another object of the present invention is to provide a Doppler-type speed sensing system with a signal drop-out detecting capability which does not have timing problems. 
     These and other objects are achieved by the present invention which includes an ultrasonic transmitter and receiver and a signal processing circuit. The signal processing circuit includes a pair of phase-locked-loop (PLL) circuits, the first receiving the transmit frequency, the second receiving the reflected frequency. A drop-out detect circuit has a comparator which receives the reflected signal and compares its rectified and averaged amplitude to a threshold. When this rectified and averaged amplitude drops out or falls below the threshold, the comparator turns on and it opens a switch in the second PLL so that the output of the second PLL remains substantially unchanged for the duration of the drop-out condition. An output signal which represents the ground velocity (speed and direction) is derived from the difference between the outputs of the first and second PLLs. The result is that the output signal is substantially unaffected by the reflected signal drop-out condition. 
     These and other objects are also achieved by a preferred embodiment of the present invention which includes a master clock from which all timing is derived, a transmit amplifier and transducer, a receive amplifier and transducer, a digital frequency detector and a signal dropout sense and hold circuit. 
     The master clock is divided down to the transmit frequency (40 kHz is preferred) to drive the transmit amplifier and transducer. The received echo is amplified, squared, and sent to the frequency detector, where the difference between its period and that of the transmit signal is measured. This difference is proportional to speed. 
     The frequency detector contains two down counters. One is driven by the receive signal, the other is driven by a signal whose frequency is derived from the master clock. The receive counter initializes and turns on and off the clock counter. 
     During each measurement interval, the clock counter measures the number of clock cycles that occur during a particular number (1280) of receive cycles. Since the transmit frequency is also derived from the master clock, each count of the clock counter represents a fixed fraction of a transmit cycle. Therefore, the final count represents the difference between the transmit and receive periods in terms of the transmit period, not in terms of an independent reference. This makes the detector output insensitive to drifts in the master clock frequency or to changes in the characteristics of circuit components. 
     At the end of each measurement interval, the final count is latched for output and the counting process begins again. 
     The drop-out detector monitors the amplitude of the receive signal. Thus, in both embodiments, the variable amplitude reflected signal is received by an input of a drop-out detection circuit. Drop-out is considered to occur when this amplitude drops below the minimum level for which true Doppler shift can reliably be detected. When the drop-out condition occurs in the preferred embodiment, the clock and receive counters are inhibited and the frequency detector waits until the drop-out condition ceases. At this time, counting resumes. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 is a simplified schematic of a speed sensing system. 
     FIG. 2 is a schematic block diagram of one embodiment of the signal processing circuit of FIG. 1. 
     FIGS. 3-7 are detailed circuit diagrams of various portions of FIG. 2. 
     FIG. 8 is a schematic block diagram of a preferred embodiment of a signal processing unit, according to the present invention. 
     FIGS. 9-15 are detailed circuit diagrams of various portions of FIG. 8. 
    
    
     DETAILED DESCRIPTION 
     The ground speed sensing system 10 includes a continuous ultrasonic transmitter and receiver unit 12 for mounting on a vehicle lower frame member 14. The unit 12 has transmit and receive horns 16 and 18, preferably aimed in a forward direction at an angle α of approximately 37 degrees from horizontal. A signal processing unit 20 provides an ultrasonic transmit signal T to the unit 14 and receives a signal from the unit 14. The horns could be conventional ultrasonic horns, but preferably would be similar to the horn assembly described in U.S. patent application, Ser. No. 660,819, filed 15 Oct. 1984, now abandoned, and assigned to the assignee of the present case. The horns 16 and 18 are coupled to a corresponding conventional ultrasonic transmitter 22 and receiver 24. The transmitter 22 preferably transmits continuously at a transmit frequency ft of 40 kHz. 
     The output of the receiver 24 will be a reflected signal R with frequency fr. Cross talk between the transmitter and receiver is preferably eliminated by using cork to accoustically isolate the horns 16 and 18 from each other or by suspending the horns via known rubber &#34;shock mounts&#34; by placing a sonic baffle or partition between the horns and by using cork to accoustically enclose portions of the horns from which ultrasonic energy could otherwise escape. 
     If the horns 16 and 18 are aimed towards the ground in the forward direction with respect to vehicle motion, then the reflected signal, R, will have a reflected frequency, fr, which will be higher than ft if the vehicle and system 10 are moving forward. Conversely, fr will be lower than ft if the vehicle and system 10 are moving in reverse. 
     As best seen in FIG. 2, the signal processing circuit 20 includes an oscillator 32 which provides the 40 kHz frequency. Circuit 20 also receives the output R of the receiver 24. The transmit signal T is sent to the transmitter 22 and to a reference phase-locked-loop (PLL) circuit 34. The reference PLL 34 includes a phase comparator 36, a low pass filter 38 and a voltage controlled oscillator 40, connected as shown. The reference PLL 40 provides a reference voltage, Vt, at 42 which is proportional to the transmit frequency ft, less 40,000 Hz. 
     The output (R) of receiver 24 is received by an input amplifier 43. The output of input amplifier 43 is coupled to a squaring amplifier 44 and by an amplitude comparator or &#34;drop-out&#34; detector circuit 46. The circuit 46 rectifies the R signal and compares the average amplitude of the rectified R signal to a threshold voltage Vth, such as 2 volts, for example, which is slightly above the amplitude at which the PLL drops out of lock. The output of circuit 46 is normally low, but goes high during periods when the output of receiver 24 is low or &#34;drops out&#34;. The output of squaring amplifier 44 is sent to another or receive phase-locked-loop detector 48. 
     The receive PLL detector 48 includes a phase comparator 50, a filter circuit 52 with a hold switch controlled by the output of circuit 46, and a voltage controlled oscillator 54. Thus, PLL 48 provides at 56 a voltage Vr which is proportional to the frequency fr of the receive signal R, less 40,000 Hz. 
     The voltages Vt and Vr are coupled to a difference amplifier 58 which generates an output voltage Vo which is proportional to Δf=(fr-ft), which, in turn, is proportional to the vehicle ground speed. Preferably, the reference PLL 34 will be mounted near the receive PLL 48 and will have the same type of temperature sensitive components. Since reference PLL 34 is directly driven by the transmit signal T and since outputs of PLLs 34 and 48 are subtracted from each other, this will eliminate drift in the output signal Vg due to temperature induced drift in the oscillator 32 or in components common to PLLs 34 and 48. 
     For further details relating to the circuit of FIG. 2, the reader is referred to FIGS. 3-7 and the table of suggested component values which follows this discussion. Beyond this, it should be pointed out, as best seen in FIG. 7, that the receive PLL 48 includes an integrating amplifier IC10 (with feedback capacitor C4). The output of phase comparator 50 is coupled to an input of the integrating amp IC10 via voltage control switch IC1 and to a proportional amplifier (IC7). Switch IC1 operates so that when the output from circuit 46 is low (when no signal drop-out condition exists) then the input of IC10 is coupled to the output of phase comparator 50 so that the output Vr of IC10 will continuously vary in magnitude proportional to changes in the frequency of received signal R. However, when the magnitude of R &#34;drops out&#34;, then the output of drop-out detector circuit 46 goes high, causing switch IC1 to disconnect the output of phase comparator 50 from the input of IC10. Thus, when received signal drop-out occurs, the output Vr of IC10 will remain unchanged until the drop-out condition ceases. 
     The output of proportional amp IC7 and the output Vr of IC10 are summed together by inverter and summing amp IC8. The output of IC8 is coupled to an input of VCO 54 to complete the phase locked loop circuit 48. 
     
         ______________________________________Table of Suggested Component Values (FIGS. 3-7)______________________________________Resistor (Ohms)R1 - 249k, 1% R31 - 80.6k, 1%2 - 49.9k, 1% 32 - 30k, 1/4 w5 - 18k, 1/4 w         33 - 1k, 1/2 w6 - 10k, 1/4 w         34 - 4.98k, 1%7 - 10k, 1/4 w         35 - 4.99k, 1%8 - 20k, 1%   36 - 1k, 1/2 w9 - 20k, 1%   37 - 20k, 1%10 - 10k, 1%  38 - 10k, 1%11 - 249k, 1% 39 - 10k, 1%12 - 44.9k, 1%         40 - 220, 1/4 w13 - 10k, 1/4 w         41 - 7.5k, 1/4 w14 - 4.7k, 1/4 w         42 - 20k, 1%15 - 220, 1/4 w         43 - 40.2k, 1%16 - 2200k 1% 44 - 220, 1/4 w17 - 2.7k, 1/4 w         45 - 1k, 1/4 w18 - 10k, 1/4 w         46 - 10k, 1%19 - 10k, 1/4 w         47 - 10k, 1%20 - 200k, 1% 48 - 10k, 1%21 - 20k, 1%  49 - 10k, 1%22 - 10k, 1/4 w         50 - 10k, 1/4 w23 - 100, 1/4 w         51 - 10k, 1/4 w24 - 10k, 1/4 w         52 - 10k, 1/4 w25 - 220, 1/4 w         53 - 12k, 1/4 W26 - 80.6k, 1%         (Match R38 + R49 to 0.1%)27 - 3.3k, 1/4 w28 - 4.42k, 1%29 - 40.2k, 1%30 - 3.3k, 1/4 wIntegrated CircuitsIC1 - Digitally Controlled Analog Switch AD7512 DIIC2, IC3 - Phase Locked Loop EGC 890 (Sylvania)IC4, 7, 8 and 9 - Standard OP Amp 741IC5, 6 and 10 - High Performance Op. Amp LF 356 BIC11 - Comparator LM 311IC12 - Comparator LM 357Capacitors (Mf =microfarads   PotentiometersC1 - .001 Mf - poly         R101 - 100k2 - .001 Mf - poly         102 - 25k3 - .01 Mf    103 - 5k4 - 1 Mf - poly         104 - 50k5 - 100 pf    105 - 1k6 - .001 Mf   111 - 100k7 - 1 Mf      112 - 25k8 - 1 Mf9 - .01 Mf10 - 1 Mf Monolithic         Pots R101 and R111 are preferably11 - 1 Mf Monolithic         adjusted so that the fmax of VCOs12 - 1 Mf Monolithic         54 and 40 is 43 kHz at 15 volts.13 - 1 Mf     Pots R102 and R112 are preferably14 - .02 Mf   adjusted so that the fmin of VCOs         54 and 40 is 37 kHz at 0 volts.DiodesD1 - 1N914D2 - 1N914D3 - 1N821D4 - 1N821D5 - 1N914D6 - 1N914D7 - 1N914______________________________________ 
    
     DESCRIPTION OF THE PREFERRED EMBODIMENT 
     As best seen in FIG. 8, the signal processing circuit 220 includes an oscillator 222 with a 4 MHz master clock frequency which is applied to a frequency divider unit 224. Unit 224 provides a 40 kHz transmit frequency signal, a 500 kHz clock frequency, fc, and a calibrate frequency, fcal, of 40,816 Hz. The 40 kHz signal is transmitted via power amplifier 226 to transducer 28 and transmit horn 16, which generates the 40 kHz ultrasonic transmit signal. 
     The reflected ultrasonic signal is received by horn 18 and receiver transducer 30 which generates the reflected signal R with frequency fr. The signal R is amplified by preamp 232 and by receiver amplifier 234 and is then applied to inputs of squaring circuit 236 and of drop-out detect circuit 238. The output of drop-out detect circuit 238 is normally low, but goes high when the peak amplitude of the output of amp 234 stays below a threshold of 2.0 volts, for example. 
     A switch 240 receives the transmit frequency ft and the calibrate frequency fcal from 224 and receives the reflected frequency fr from 236. Switch 240 couples a selected one of these frequencies to the C input of a synchronizing flip-flop 242 and to the C input of receive down counter 244 via 1 microsecond delay 248. An inhibit or disable drop-out output of switch 240 is coupled to the drop-out detector 238. 
     The D or data input of D-type flip-flop 242 is coupled to the output of drop-out detect circuit 238, the set S input is coupled to the &#34;0-out&#34; terminal of receive down counter 244, and the Q output is coupled to the inhibit, Inh, inputs of receive down counter 244 and of clock down counter 246. 
     The receive down counter 244 also has its clock input coupled to the output of switch 240 via 1 microsecond delay 248. A 12-bit binary word (equal to decimal 1280, for example,) is applied to the preset data pins of down counter 244. The &#34;0-out&#34; terminal of down counter 244 is also coupled via 1 microsecond delay 250 to the +T input of monostable multivibrator or one-shot 252. The inverted Q output of &#34;latch&#34; one-shot 252 is coupled to the inverted read input of latch 254 and to the +T input of monostable multivibrator or one-shot 256. The Q output of &#34;preset&#34; one-shot 256 is coupled to the preset control inputs of clock and receive down counters 246 and 244 via OR gate 257. OR gate 257 also is coupled to a resistor and capacitor circuit 259. Circuit 259 and OR gate 257 operate to reset counters 244 and 246 when the system power (from which +15 volts is derived) is turned on. 
     The clock input C of down counter 246 receives the 500 kHz frequency fc from frequency divider unit 224. The 12 least significant bits of a binary word (equal to 16,000+512 or binary 100 0000 1000 0000) are applied to the preset data pins of clock down counter 246. The number 16,000 is equal to the number of the cycles of the clock frequency fc which will occur in the time taken up by 1280 cycles of the transmit frequency ft . . . (500,000÷40,000)×1280. The contents of the down counter 246 is communicated to latch 254 via a 10 bit data bus. 
     The latch 254 is coupled via a 10 bit data bus to a digital to analog converter 258 and to output amplifer 260. An offset level may be applied via summer 262 and the scaling amplifier provides the output voltage Vo. 
     The clock down counter preset offset of 512 is chosen so that the full range of forward and reverse speeds of the vehicle can be represented by positive clock down counter valves. This is necessary if the D/A converter 258 treats all digital numbers from latch 254 as positive. However, if a D/A converter with negative number capability is used, then no offset is needed. In this latter case, the resulting final clock down counter numbers would be positive for forward speeds, zero for zero speeds and negative for reverse speeds. 
     MODE OF OPERATION OF PREFERRED EMBODIMENT 
     During normal operation, the switch 240 selects the fr frequency from squaring amp 236. Down counters 244 and 246 are simultaneously preset to predetermined numbers upon generation of a preset pulse by preset one-shot 256. Receive down counter is preset to 1280 (binary 10100000000). Clock down counter is preset to the 12 least significant bits of 16512 which is binary 000 1000 0000. 
     Then, assuming no signal drop-out condition is detected by drop-out detector 238, the receive down counter 244 counts down at a rate equal to the frequency fr of the reflected signal, which frequency is applied to the clock input C of receive down counter. 
     By rewriting the Doppler equation, (1), it follows that the frequency shift ΔF=fr-ft is approximately 82.87 Hz per mile per hour of ground speed Vg: 
     
         Δf=(Vg×ft×2 cos α)÷c           (2) 
    
     Thus, it follows that receive down counter 244 will generally count down from 1280 to 0 in around approximately 30.727 miliseconds for a forward ground speed of 20 mph, in 32 miliseconds for a ground speed of 0.0 mph, and in approximately 32.335 miliseconds for a rearward ground speed of 5 mph. Thus, receive down counter 244 establishes a variable time interval equal to the time occupied by a predetermined number of cycles of the reflected frequency fr. At the same time, the 500 kHz square wave clock frequency fc from frequency divider 224 is applied to the clock input c of clock down counter 246 so that it counts down from its preset value at a 500 kHz rate. The counters 244 and 246 continue counting down at their respective rates until receive down counter 244 reaches 0, at which point its 0-out output generates a low-to-high transition (0-1). This 0-1 transition is applied to the set S input of flip-flop 242 so that the normally low Q output of flip-flop 242 and the INH inputs of both down counters 244 and 246 go high, thus inhibiting further down counting by both down counters 244 and 246. 
     After a 1 microsecond delay due to delay 250, the 0-1 transition of the 0-out of 244 also causes latch one-shot 252 to generate a negative 1 microsecond pulse. The positive going (or trailing) edge of this pulse causes latch 254 to read the contents of clock down counter 246. To a very close approximation, the final number N in the clock down counter 246 will be defined by the equation: 
     
         N=((Δf×Nc×Nd)÷(ft×Nt))+512     (3) 
    
     where Δf is equal to fr-ft, Nc is the number of receive cycles over which the receive period is measured (1280), Nd is the ratio of the master clock frequency (4 MHz) to the transmit frequency ft (40 KHz) and Nt is the ratio of master clock frequency to the clock counter input frequency (500 kHz). For example, for ground speeds of forward, 20 mph, 0 mph and reverse 5 mph, the latch 254 will contain values of approximately 1173, 512 and 345, respectively. Thus, the contents of latch 254 is linearly related to ground velocity. This can also be shown by substituting equation (2) for Δf in equation (3) to obtain the following equation: 
     
         N=((Vg×2 cos α×Nc×Nd)÷(Nt×c))+512. (4) 
    
     Thus, it can be seen that the final count number N is dependent only on the physical quantities Vg and α and on the digital quantities Nc, Nd, and Nt. It is insensitive to drift in the 4 MHz master clock frequency since this frequency is cancelled out in the derivation of equation 4. 
     Now, the negative pulse from latch one-shot 252 also causes preset one-shot 256 to generate a positive 1 microsecond pulse which presets both counters 244 and 246 and returns the 0-out output of down counter 244 back to its initial low state. Then, the next rising edge of the pulse train from switch 240 resets Q of flip-flop 242 and the Inh inputs of counters 244 and 246 back to their initial low states so that counters 244 and 246 can start down counting again. 
     The D/A converter 258 converts the contents of latch 254 into an analog voltage so that, for example, a 1 count change in the latch contents corresponds to voltage change of 9.77 milivolts at the output of D/A converter 258. The output of D/A converter 258 is amplified by amplifier 260. Then, offset and scale factors may be applied via summer 262 and variable amp 264 to obtain an output voltage Vo which is proportional to the latch contents N, and thus, to the ground speed Vg. 
     Now, when the amplitude of the reflected signal R is at normal levels, then the output of drop-out detector 238 is low and the system operates as just described. However, the reflected signal amplitude may &#34;drop out&#34; due to variations in terrain reflectivity or due to destructive interference among wave fronts from the various reflecting areas of the terrain. This signal drop-out condition can cause a speed sensing system to produce erroneous ground speed values. In this preferred embodiment of the present invention, the output of the drop-out detect circuit 238 and the D input of flip-flop 242 go high when this drop-out condition occurs. Then, on the next rising edge of the pulse train from switch 240, the Q output of flip-flop 242 goes high, thus inhibiting both down counters 244 and 246, as long as the drop-out condition exists. 
     When the drop-out condition ends, the output of drop-out detect circuit 238 and the D input of flip-flop 242 go back low. Then, on the next low to high transition of the pulse train from 240, the Q out of flip-flop 242 goes back low and down counters 244 and 246 resume counting. In this manner, the drop-out condition does not degrade the velocity information. 
     A testing capability is provided for this system by the addition of switch 240. In the normal operating position (shown), switch 240 connects the output of squaring circuit 236 to receive down counter 244 so that the system operates as described previously. If switch 240 is in the &#34;zero&#34; position, then the 40 kHz transmit frequency is coupled to receive down counter 244 so that if the system is operating properly, the contents of latch 54 will indicate a zero ground speed. If switch 240 is in its &#34;CAL&#34; position, then a calibrate frequency fcal of 40.816 kHz is coupled to receive down counter 244 so that the contents of latch 254 should indicate a predetermined forward ground speed. When switch 240 is in the &#34;zero&#34; or &#34;calibrate&#34; positions, it causes drop-out detector 238 to remain in its low output state so that a drop-out condition does not interfere with the test function. 
     It should be understood that this invention could be used to sense velocities other than vehicle ground speed. For example, if the horns 16 and 18 were aimed at a rotating tire, a measure of tire rotation speed could be obtained. Similarly, if the horns were aimed at any object moving with respect to the horns, such as a straw mat moving through a combine, then this invention would sense the velocity of that moving object. 
     The following are tables of the recommended values for the components shown in the preferred embodiment of FIGS. 9-15. Table A corresponds to FIGS. 9, 10 and 12-14. Table B corresponds to FIG. 15 and elements 234 and 236 of FIG. 11. Table C corresponds to elements 230 and 232 of FIG. 11. 
     
                       TABLE A______________________________________ (FIGS. 9, 10 and 12- 14)______________________________________Resistors (Ohms)R1 - 100Ω, 1/4 W2 - 4.7 M, 1/4 W3 - 4.7k, 1/4 W4 - 4.7k, 1/4 W5 - 1k           R17-6 - 1k, 1/4 W6 - 1k           18-6 - 30k, 1/4 W7 - 10k, 1/4 W   19-6 - 1 M, 1/4 W8 - 10k, 1/4 W   21-6 - 10k, 1/4 W10 - 10k, 1/4 W  22-6 - 10k, 1/4 W11 - 10k, 1%     R38-6 - 10k, 1/4 W12 - 40.2k, 1%   R55-6,R56-6 - 100Ω, 1/4 W17 - 10k, 1%18 - 10k, 1%19 - 4.7k, 1/4 W21 - 10Ω, 1/2 W22 - 10Ω, 1/2 W23 - 10Ω, 1/2 W24 - 10k, 1/4 W25 - 10k, 1/4 W26 - 10k, 1/4 W27 - 30k, 1/4 W28 - 447k, 1/4 W29 - 100k, 1/4 W30 - 2 M, 1/4 W31 - 150k, 1/4  WIntegrated CircuitsIC1 - 4011       IC15 - MC145262 - MC14526      16 - MC145263 - MC14526      17 - MC145264 - MC14526      18 - MC145265 - MC14526      19 - MC145266 - 4093         20 - MC145267 - CD4098       21 - 40428 - CD4098       22 - 40429 - CD4098       23 - 404210 - 4071        24 - LF35611 - 4011        25 - LF35612 - 4013        26 - MC1438R13 - 4013        27 - MC1438R14 - 4011        2-6 - 339Potentiometers   DiodesR101 - 25k, 20T - Type 89X            D1 - IN914102 - 10k, 20T - Type 89XR101-6 - 2k, 20T -Helipot type 66WCrystal          TransducerXt1 - 4.0 MHz    X-2 Massa TR89 Type 40Socket           Inductors14 pin DIP       L1, 2.88 mH Cambion 558-106-31Capacitors (mf = microfarad)All capacitors ceramic ormonolithicC1 - 1 Mf        VC24 - 100 pf2 - 33 pf        25 - 330 pf4 - .1 Mf        26 - .002 Mf5 - .1 Mf        27 - .01 Mf6 - .1 Mf        28 - 100 pf7 - .1 Mf        29 - 100 pf8 - .1 Mf        30 - 1 Mf9 - 47 Mf        31 - 1 Mf11 - 47 Mf       32 - 1 Mf12 - 1 Mf        33 - 1 Mf13 - .1 Mf       34 - 1 Mf14 - .1 Mf       35 - 1 Mf15 - 100 pf      36 - 1 Mf16 - 100 pf      37 - 1 Mf17 - .1 Mf       38 - 1 Mf18 - .1 Mf       39 - 1 Mf19 - .1 Mf       C17-6 - 1 Mf Monolithic20 - .1 Mf       C27-6 - Optional21 - 1 Mf        C28-6 - Optional22 - 47 Mf       C20-4 - .003 Mf23 - Decoupling______________________________________ Note: (a) C1, C4, C5, C13-C19 should be mounted as close as possible to their associated integrated circuit. (b) L1, R204, R1034, C204 are mounted in case of transmitter horn 16. 
    
     
                       TABLE B______________________________________ (FIG. 15, 234 and 236 of FIG. 11)______________________________________Resistors (Ohms)R1 - 220Ω, 1/4 W            R35 - 10Ω, 1/2 W2 - 10k, 1/4 W   36 - 10Ω, 1/2 W3 - 100Ω, 1/4 W            37 - 100Ω, 1/4 W4 - 10k, 1/4 W   39 - 20Ω, 1%5 - 220Ω, 1/4 W            40 - 10k, 1%6 - 10k, 1/4 W   41 - 4.7k, 1/4 W7 - 10k, 1/4 W   42 - 20k, 1%9 - 10k, 1/4 W   43 - 20k, 1%10 - 10k, 1/4 W  44 - 20k, 1%11 - 20k, 1% Optional            45 - 10k, 1%12 - 20k, 1% Optional            46 - 40.2k, 1%13 - 20k, 1% Optional            47 - 20k, 1%14 - 10k, 1% Optional            48 - 4.7k, 1/4 W15 - 200k, 1/4 W Optional            49 - 15k, 1%16 - 4.7k, 1/4 W Optional            50 - 4.7k, 1/4 W23 - 100Ω, 1/4 W            51 - 270Ω, 2 W24 - 200Ω, 1%            52 - 100Ω, 1/4 W25 - 200Ω, 1%            53 - 100Ω, 1/4 W26 - 27.4k       54 - 100Ω, 1/4 W27 - 100Ω, 1/4 W            57 - 100Ω, 1/4 W28 - 27.4k       58 - 100Ω, 1/4 W29 - 100Ω, 1/4 W            59 - 100Ω, 1/4 W30 - 3.3k, 1/4 W 60 - 100Ω, 1/4 W31 - 20k         61 - 100Ω, 1/4 W32 - 220Ω, 1/4 W            62 - 100Ω, 1/4 W33 - 100Ω, 1/4 W            63 - 10k, 1/4 W34 - 100Ω, 1/4 W            64 - 1k, (Optional)CapacitorsC1 - 47 Mf       C17 - 1 Mf Monolithic2 - 1 Mf         18 - .015 Mf Polystyrene3 - .001 Mf      19 - .05 Mf Polystyrene4 - 1 Mf         20 - .1 Mf6 - 1 Mf         21 - 1 Mf7 - 1 Mf         23 - 1 Mf8 - .002 Mf      24 - 1 Mf9 - 1 Mf         24 - 1 Mf10 - 1 Mf        25 - 1 Mf11 - 1 Mf        26 - 1 Mf12 - 1 Mf        27 - 1 Mf13 - 100 pf      28 - 1 Mf14 - SAC (1 to 10 Mf)            29 - 1 Mf15 - 1 Mf        30 - 1 Mf16 - .1 Mf       31 - 1 Mf17 - 1 Mf Monolithic            32 - 1 Mf18 - .015 Mf Polystyrene            33 - 1 Mf19 - .05 Mf Polystyrene            34 - 1 Mf20 - .1 Mf(R64, C21- C26 and C29- C34 are optional), (C1- C13 may bedisc or monolithic)Potentiometers   Transistors102 - 2k, 20T    Q1 - 2N2914Helipot Type 66W103 - 100k, 20T  2 - 2N3904Helipot Type 66W104 - 25k, 20T   3 - 2N3906Helipot Type 66W105 - 10k, 20T   , -Helipot Type 66WSwitches         DiodesSw1 - Slide switch, PC Mount            D1 - IN914            2 - IN914Integrated Circuits            3 - IN914 OptionalIC1 - LF 357     4 - IN914 Optional3 - LF 357 Optional            5 - IN9144 - LF 359 Optional            6 - IN9145 - 78L056 - AD5847 - 40138 - VFC32KP, Burr Brown9 - 455810 - AD7541k, Analog Devices11 - 3527AM, Burr Brown12 - LF355______________________________________ 
    
     
                       TABLE C______________________________________(230 and 232 of FIG. 11)______________________________________Resistors          Capacitors2 - 10k, 1/4 W     C1 - 1 Mf3 - 100k, 1/4 W    2 - 1 Mf4 - 220Ω, 1/4 W5 - 100Ω, 1/4 W6 - 100Ω, 1/4 W              Integrated Circuit              IC - LF 356InductorL1 - 6.3 Mh Cambian 558-3387-30 (5.4- 8.2 mn)TransducerX-1 Massa TR89, Type 40______________________________________ 
    
     While the invention has been described in conjunction with a specific embodiment, it is to be understood that many alternatives, modifications and variations will be apparent to those skilled in the art in light of the aforegoing description, for example, use of radar instead of acoustic waves. Accordingly, this invention is intended to embrace all such alternatives, modifications and variations which fall within the spirit and scope of the appended claims.