Sensor array multiplexer

Abstract

A system for collecting data from multiple sensors at a central node is described. The system includes multiple pairs of sensor array multiplexers (SAMs) and sensors connected in series along the length of two cables each having a twisted wire pair. A first end of the length of the two cables is connected to the central node for receiving data from each of the multiple pairs. The multiple pairs include sensors of at least two different types, which may have different sampling rates. The first cable carries timing data between the multiple pairs and the central node and the second cable carries sensor data between the multiple pairs and the central node.

Claims

1. A system for collecting data from multiple sensors at a central node, comprising: multiple pairs of sensor array multiplexers and sensors connected in series along the length of two cables each having a twisted wire pair; and a central node located at a first end of the length of the two cables for receiving data from each of the multiple pairs, wherein the multiple pairs include at least two different sensors and at least two different sampling rates.

2. The system of claim 1, wherein a first cable carries timing data between the multiple pairs and the central node and a second cable carries sensor data between the multiple pairs and the central node.

3. The system of claim 2, wherein the timing data includes clock, command and pulse-per-second signals.

4. The system of claim 1, wherein the sensors are selected from the group consisting of: a hydrophone, an acoustic vector sensor, and an engineering sensor.

5. The system of claim 1, wherein the sensors provide data selected from the group consisting of: tilt, heading, temperature, force, angular rate, velocity, acceleration, deceleration, orientation, pitch, roll, and yaw.

6. The system of claim 1, wherein the sensors provide data signals in analog and digital formats.

7. The system of claim 1, wherein each sensor array multiplexer includes a FPGA.

8. The system of claim 1, wherein the multiple pairs of sensor array multiplexers and sensors are located under water.

9. A system for collecting data from multiple sensors at a central node, comprising: an M×N array of multiple pairs of sensor array multiplexers and sensors, wherein each row M includes a set of dual cables connecting the multiple SAM and sensor pairs to each other in the row M in series and to the central node and further wherein, each of the dual cables includes a twisted wire pair; and the central node being located at a first end of the length of each set of dual cables for receiving data from each of the multiple pairs of sensor array multiplexers and sensors in each row M, wherein the sensors within each of the pairs of sensor array multiplexers and sensors are selected from at least two different sensors.

10. The system of claim 9, wherein a first cable in each set of dual cables carries timing data between the multiple pairs and the central node and a second cable in each set of dual cables carries sensor data between the multiple pairs and the central node.

11. The system of claim 10, wherein the timing data includes clock, command and pulse-per-second signals.

12. The system of claim 9, wherein the sensors are selected from the group consisting of: a hydrophone, an acoustic vector sensor, and an engineering sensor.

13. The system of claim 9, wherein the sensors provide data selected from the group consisting of: tilt, heading, temperature, force, angular rate, velocity, acceleration, deceleration, orientation, pitch, roll, and yaw.

14. The system of claim 9, wherein the sensors provide data signals in analog and digital formats.

15. The system of claim 9, wherein each sensor array multiplexer includes a FPGA.

16. The system of claim 9, wherein the M×N array of multiple pairs of sensor array multiplexers and sensors is located under water.

17. A system for collecting data from multiple sensors at a central node, comprising: multiple pairs of sensor array multiplexers and sensors connected in series along the length of two cables each having a twisted wire pair; and a central node located at a first end of the length of the two cables for receiving data from each of the multiple pairs, wherein at least one of the multiple pairs includes a sensor which provides at least one analog data signal and at least one digital data signal.

18. The system of claim 17, including 16 sensor array multiplexers and sensors connected in series.

19. The system of claim 17, wherein a first cable carries timing data between the multiple pairs and the central node and a second cable carries sensor data between the multiple pairs and the central node.

20. The system of claim 19, wherein the timing data includes clock, command and pulse-per-second signals.

Description

BRIEF SUMMARY OF FIGURES

(1) The following figures are intended to be considered along with the Detailed Description set forth below:

(2) FIG. 1 illustrates an exemplary simplified schematic of a sensor array system which may implement the embodiments described herein;

(3) FIGS. 2a to 2g illustrate an exemplary sensor array multiplexer (“SAM”) telemetry node in accordance with one or more embodiments herein including components and related circuitry schematics for implementing the following functionality: Low-voltage differential signaling (“LVDS”) (FIG. 2c), power requirements (FIG. 2d), programmable interface control (“PIC”) (FIG. 2e, FIG. 2f), external sensor data retrieval (FIG. 2g) and monitoring (FIG. 2h);

(4) FIGS. 3a to 3g illustrate exemplary FPGA logic pin connections within each SAM telemetry node in accordance with one or more embodiments herein;

(5) FIG. 4 illustrates a row of SAM/sensor pairs connected to two twisted wire cables in accordance with one or more embodiments herein; and

(6) FIG. 5 illustrates an array of SAM/sensor pairs, including multiple rows, connected to a central node in accordance with one or more embodiments herein.

LISTING OF ACRONYMS

(7) The following acronyms or abbreviations may be used in the Detailed Description and/or the Figures:

(8) TABLE-US-00001 Acronym -or- Abbreviation Full Name/Description ADC Analog to Digital Converter AINN Analog input negative AINP Analog input positive AN Analog AVS Acoustic Vector Sensor C Capacitor CAL Calibrate CLK Clock CMD Command CS Chip select D Digital DBG Debug DIN Digital In DOUT Digital Out EN/UVLO Output enable/undervoltage lockout FPGA Field Programmable Gate Array FTCK FPGA Test Clock FTDI FPGA Test Data Input FTDO FPGA Test Data Output FTMS FPGA Test Mode Select FTRST FPGA Test Reset GND Ground GNDQ Ground (quiet) HYD Hydrophone I2C Integrated circuit protocol IO Input/Output IB Interface Block JTAG Industry standard for verifying designs and testing printed circuit boards after manufacture LAVS Leidos Acoustic Vector Sensor LVDS Low-voltage differential signaling M Monitor MCLK Master Clock MCU Microcontroller Unit MH Mounting Hole MISO Master in, Slave out MOSI Master out, Slave in N Negative NEG Negative P Positive PGOOD Power good pin/signal PIC Programmable Interface Controller POS Positive PPS Pulse-per-second PROG Program PWR Power R Resistor RDYB Ready/Set RST Reset Pin 1 RSTB Resent Pin 2 RX Receive SAM Sensor Array Multiplexer SCK Clock line for SDI SCL Clock line for I2C SDA Data line for I2C SDI Standard Data input SDO Standard Data output SPI Serial Peripheral Interface SYNC Synchronize TEMP Temperature TCK JTAG Clock TDI JTAG Test data input TDO JTAG Test data output TMS JTAG Test mode select TRST JTAG test reset TX Transmit UART Universal Asynchronous Receiver/Transmitter UDP User Datagram Protocol V Volts VCC FPGA Core supply voltage VCCI I/O Supply voltage VCCPLF Voltage to analog PLL VCOMPLF Ground to analog PLL power supplies VDD Voltage drain drain VJTAG JTAG supply voltage VPUMP Programming supply voltage VSS Voltage source source XSENS A COTS GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) with GNSS receiver support, 3D Attitude and Heading Reference System (AHRS), Vertical Reference Unit (VRU) and Inertial Measurement Unit (IMU)

DETAILED DESCRIPTION

(9) The present embodiments are directed to a system and method for the use and operation of multiple sensors of disparate types and sample rates distributed along the length of a four wire cable, i.e., two twisted pairs. Power, timing and control signals are bussed to the sensors over the cable and, simultaneously, data from all of the sensors is transmitted back along the same cable. This mode of operation minimizes the required conductors, provides for the synchronous sampling of data, and intermixing of synchronous and asynchronous data obtained from the sensors. A combination of HDL-coded logic and circuit design provides the features which allow this telemetry arrangement to operate. Additionally, the sensor data is packaged into packets in accordance with a unique packet format which are similar to Ethernet but have considerably less overhead in terms of header information. This allows better utilization of bandwidth on a bandwidth-constrained cable.

(10) The sensor array multiplexer (SAM) of the present embodiments as implemented uses less power than other solutions in part by operating at a line rate of less than 3 megabits per second. System timing is also an integral part of the design in contrast to other approaches. The present embodiments provide a master timing signal which includes both a system clock and a pulse-per-second (PPS) marker which allows all sensors to be simply and precisely simultaneously sampled. The packet (or message) format used is between ATM and Ethernet packet sizes and combines aspects of both (ATM virtual channels and payload type; Ethernet variable payload type) resulting in a format more suited for array telemetry.

(11) By way of example only, FIG. 1 illustrates an exemplary simplified schematic of a sensor array system 10 which may implement the embodiments described herein with respect to the SAM. The sensor array system 10 includes multiple sensors 12, a central node 14 and transmission cabling 16. Additionally, FIG. 1 also shows a representative flotation device 18. For the sensors, the embodiments herein specifically reference hydrophones (omni and multidirectional), acoustic vector sensors (AVS) (for example, the AVS described in commonly owned U.S. patent application Ser. No. 15/714,130 filed Sep. 25, 2017 which is incorporated herein by reference), and engineering sensors in various examples, but the embodiments are not so limited as would be understood by one skilled in the art. Individual sensors or sensor components may include inertial measurement units (IMU), accelerometers, gyroscopes, magnetometers, compass, global navigation satellite system, vertical reference units, thermometer. Sensors provide data such as tilt, heading, location, temperature, force, angular rate, velocity, acceleration, deceleration, orientation, pitch, roll, yaw and the like. A single sensor may consist of multiple signals and the signals may be analog or digital.

(12) With respect to FIG. 2a, an exemplary SAM telemetry node 20 is shown. Each node includes logic 22, a first cable 24a with a first twisted pair of wires for carrying CLK, CMD and PPS signals in and out of each individual SAM node 20 and second cable 24b with a second pair of twisted wires for carrying data in and out of each individual SAM node 20, as well as numerous other components and related circuitry for facilitating the transport of power, clock, commands and PPS to its associated sensor. By way of example, FIG. 2b provides a top-level schematic of the various components and related interfaces and signals included in a SAM telemetry node 20 in accordance with one or more embodiments herein. As illustrated, this exemplary SAM telemetry node 20 includes LVDS 30 (FIG. 2c), Power 40 (FIG. 2d), PIC 50 (FIG. 2e and FIG. 2f, external sensor(s) 60 (FIG. 2g) and monitor 70 (FIG. 2h). Preferred electrical characteristics of the SAM telemetry node include: galvanical isolation to minimum of 1 kVrms for both input and output; LVDS signal levels; operational with unshielded twisted pairs over a length of at least 200 meters; and a bit error rate of less than 1×10.sup.−9.

(13) An exemplary external sensor referenced as XSENS in FIGS. 2e, 2f, 2g and 2h is a GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) with GNSS receiver support, 3D Attitude and Heading Reference System (AHRS), Vertical Reference Unit (VRU) and Inertial Measurement Unit (IMU). A description of the characteristics and functionalities of the XSENS may be found in the MTi 1-series Data Sheet, Document MT0512P, Revision Cl, 7 Sep. 2016, the contents of which is incorporated herein by reference. As discussed herein above, this is but one example of a sensor which may be used in combination with the SAM per the embodiments.

(14) FIGS. 3a through 3g provide top level (FIG. 3a) and related views for exemplary FPGA logic 22 pin connections within each SAM telemetry node 20. In FIGS. 3b to 3e, the four I/O banks of an exemplary four bank FPGA are utilized for a first sensor ADC, e.g., hydrophone (FIG. 3b); the LVDS (FIG. 3c); UART debug, Monitor and PIC SPI BUS (FIG. 3d) and the LAVS and Temperature A/D (FIG. 3e). FIG. 3f illustrates power connections to the FPGA 22. FIG. 3g illustrates JTAG configuration for testing and debugging. Additional information regarding JTAG functionality, as well as details about an exemplary FPGA used in the illustrated schematics, can be found in one or both of the following references which are incorporated by reference and otherwise submitted to be within the skill of the art: Training JTAG Interface, Lauterback GmbH, Version 16 Apr. 2019 and the IGLOO Low-Power Flash FPGAs data sheet v2.0, Actel, Nov. 2009. The exemplary FPGA used in the present embodiments is a M1AGL1000V2-FG144I from Microsemi, but one skilled in the art will appreciate the myriad of other FPGA devices that may be used in accordance with various application requirements.

(15) With respect to FIG. 4, an exemplary horizontal line array of multiple SAM and sensor pairs is shown. In this example, four SAM and sensor pairs (SAM.sub.1, S1 . . . SAM.sub.4, S4) are shown and are interconnected by 2 twisted pair cables, TP1 (24a) and TP2 (24b). And in FIG. 5, an M×N array of SAM and sensor pairs (SAM.sub.1, S1 . . . SAM.sub.32, S32) is illustrated, wherein each row M includes dual cables (4 wires) connecting the SAM and sensor pairs in its respective row to a central node 14. Each sensor S may have multiple signals to be transmitted via the SAM. For example, a vector sensor will have an X, Y, Z, and omni acoustic signal as well as some position signals. The current preferred embodiment includes architecture that supports 16 SAM/Sensor pairs in series. So, in FIG. 5, each row (M) could actually have 16 SAM/Sensor pairs instead of only four. Accordingly, for a given array of SAM/Sensor pairs, up to 256 virtual sensors (signals) may be distributed among the SAMs. So, in FIG. 5, cables TP1,TP2 could service 256 virtual sensors. For example, the vector sensor analog signals, e.g., X, Y, Z, and omni acoustic signal, could be treated as four virtual sensors. The SAMs connect multiple sensors of different types and sample rates to a central node 14 such as an underwater array like that of FIG. 1 does may be implemented in any system requiring sensor connection to a central node.

(16) Each SAM supports multiple signal outputs, e.g., outbound messages, to its respective sensor. The SAM provides timing signals which include: an indication of the reference pulse-per-second (PPS) signal and a master clock synchronous with the PPS and having a rising edge aligned with the PPS edge. The SAM provides a mechanism for transmitting commands to the sensors. And the SAM provides D.C. power meeting one of the following two options: a 48-Volt power rail capable of providing 9.6 Watts and a 24-Volt power rail capable of providing 9.6 Watts.

(17) Each SAM is also capable of transporting sensor data from between 1 and 16 sensors and thus also receives input signals, e.g. inbound messages. The sensors may have 8, 16, 24, or 32-bit values. Each SAM supports an overall bit rate of 1.92 MITs/second with actual speed determined by the system parameters such as cable characteristics and sensor requirements.

(18) The sensors (S) are the primary data sources. With respect to the particular examples described herein, the system supports up to N.sub.HYD samples per message frame for the hydrophone sensor data packet (fewer if the frame counter is reset before the frame buffer is filled). Similarly, for the acoustic vector sensor data packet, the system supports up to NAvs samples per message frame and for the engineering sensor data packet, the system supports up to NEs samples per message frame; less if the frame counter is resent before the frame buffer is filled. Finally, the central node may also be a message source. Such messages may include health and status information provided by sensors in the central node and system state information held in the central node.

(19) In a preferred embodiment, message rates vary, wherein the hydrophone sensor sample rate is S.sub.HYD samples per second (SPS) and the acoustic vector sensor sample rate is S.sub.AVS wherein S.sub.AVS≤S.sub.HYD. The engineering sensor sample rate and the central node sample rate are both 1 sps. In a preferred embodiment, a sequence number counter is reset upon receipt of an external command, which is from the SAM command set. Alternatively, reset of a sequence number counter could occur upon reaching a specified count. The following considerations may be taken into account in selecting reset process. First, a critical data processing requirement is that all elements have their sequence numbers synchronized over the long run, i.e., over a period longer than the loss of any single message or the failure to correctly execute any single reset. Second, all elements must have their sequence number simultaneously reset. SAM command messages are sent by the central node at the PPS clock boundary. Third, synchronization does not have to be with respect to the telemetry clock, or bit rate, but with respect to the hydrophone sampling rate; and the propagation delay of a reset command from the central node to the furthest element is inconsequential (at worst <<1% of a sample period). Fourth, the sequence numbers associated with the least frequent messages (1 sps) should increment to some number greater than one between resets so that the backend processor(s) can readily detect a dropped message.

(20) Further to the preferred embodiment, message sequence number rules are as follows: (1) sequence numbers originate at the source of the data, e.g. at an element; (2) each source increments its sequence number upon the transmission of a hydrophone message; (3) each message type assigns its sequence number to be the value of the sequence number when the first data sample is inserted into the message payload; (4) upon receipt of the specified reset signal each message type will be concluded with the most recently acquired measurement and immediately transmitted; and (5) sequence numbers increment until reset by an external signal per earlier description (overriding (3) above).

(21) The central node should be the source of the Message Sequence Counter Reset logic; sending reset commands to all of the SAM elements. Logic within the central node monitors the SAM message counter values to determine the correct time to generate a reset message. That is, the logic is able to accommodate the loss of messages from one or more elements and deduce the correct message count. A suggested value for the reset threshold is any number between 180 and 225 that is modulo (15). The suggestion is stated in this way to avoid any statement indicating a time interval.

(22) The following tables provide message format specifications for messages created by the SAMs and/or central node.

(23) TABLE-US-00002 TABLE 1 Payload, Element (via SAM) or Central Node Data Description Bytes Default Value Examples SYNC, frame 2 Binary - 0xfd29 synchronization 1111110100101001 signal Hex - 0xfd29 SAM ID#, 1 None 0x00, node, position of Node ID element within 0x10, element array, 1 - N from #16, SAM ID node to end Payload Source - 1 None 0x24, VLA Source 35.sub.10 = HLA 36.sub.10 = VLA 37.sub.10 = Node Payload Type - 1 None 0x03, Engineering Hydrophone = 1 Sensor Vector Sensor = 2 Engineering Sensor = 3 UART = 4 Node = 7 Board Serial 2 Factory 0x0005 Number Programmable Payload Length, 2 None 0x017c, Message Sequence 2 bytes of sequence Number plus Data number + 378 Sample Set bytes of data samples Message Sequence 2 None Decimal - 266 Number, Hex - 0x010a 0 ≤ N ≤ Reset Value Data Sample Set, 2/ None A single sample: 1-400 samples sample Binary - 1100011111010010 Decimal - −14382 Hex - 0xc7d2 Payload CRC 4 CRC-32, 0xca3431 includes all bytes above

(24) TABLE-US-00003 TABLE 2 Command Packet BYTES ID DESCRIPTION 1 Preamble 0xFF the preamble is the default state of the line 2 Sync 0xFD29 - marks the next clock as the PPS Location 2 Command 65536 Sensor Addresses - ABCD Address 64 Command Data Sensor Command Data 4 Packet CRC CRC32 - The next bit is PPS location

(25) TABLE-US-00004 TABLE 3 Command Address ms byte ls byte ID 0 0-255 Hydrophone 1 0-255 Vector 2 0-255 Heading 3 0-255 Temperature 4 0-255 Tilt 5-255 0-255 Reserved

(26) TABLE-US-00005 TABLE 4 Central Node to Backend Processor(s) Message Description Bytes Ethernet Header 22 IP Header 20 UDP Header 8 Payload ≤813 Frame Check Sequence 4

(27) TABLE-US-00006 TABLE 5 Ethernet Header, created in Central Node Data Description Bytes Value Preamble 7 All Bytes = Binary - 10101010 Hex - 0xaa Start Frame Delimiter 1 Binary - 10101011 Hex - 0xab MAC Destination Address 6 Single address of PTS and Backend Station MAC Source Address 6 TA MAC address Ethernet Payload Length, 2 None includes IP and UDP Headers

(28) TABLE-US-00007 TABLE 6 IP Header, created in Central Node Data Description Bytes Value IP Version (4 bits)/Header 1 0x4/0x5 Length (4 bits designating the number of 32 bit words) Type of Service 1 0x00 IP Length 2 IP packet size, includes IP header, UDP header and payload ID 2 0x0000 Flags (3 bits)/Fragment (13 bits) 2 0x0000 Time to Live 1 0x64 (102 seconds) Protocol 1 0x11 IP Header Checksum 2 None IP Source Address 4 TA IP address IP Destination Address 4 PTS and Backend Station IP address

(29) TABLE-US-00008 TABLE 7 UDP Header Data Description Bytes Value Source Port 2 0x0000 Destination Port 2 0x0000 UDP Length 2 Length of UDP header Checksum 2 Checksum of header and

(30) TABLE-US-00009 TABLE 8 Data Sample Set/Hydrophone Message (created in SAM) Data Description Byte # Sample 1, MSB 1 Sample 1, LSB 2 Sample 2, MSB 3 Sample 2, LSB 4 • • • • • • Sample N, MSB (1 ≤ N ≤ 200) 2*N−1 Sample N, LSB (Nnominal = 200) 2*N 

(31) TABLE-US-00010 TABLE 9 Data Sample Set/AVS Message (created in SAM) Data Description Byte1 Sample 1, X-axis, MSB 1 Sample 1, X-axis, LSB 2 Sample 1, Y-axis, MSB 3 Sample 1, Y-axis, LSB 4 Sample 1, Z-axis, MSB 5 Sample 1, Z-axis, LSB 6 Sample 2, X-axis, MSB 7 • • • • • • Sample M, Z-axis, MSB (1 ≤ M ≤ 100) 6*M−1 Sample M, Z-axis, LSB (Mnominal = 69) 6*M 

(32) TABLE-US-00011 TABLE 9 Data Sample Set/Engineering Sensor Message (created in SAM) Data Description Byte1 Sample 1, Heading, MSB 1 Sample 1, Heading, LSB 2 Sample 1, X-axis Tilt, MSB 3 Sample 1, X-axis Tilt, LSB 4 Sample 1, Y-axis Tilt, MSB 5 Sample 1, Y-axis Tilt, LSB 5 Sample 1, Temperature, LSB 6 Sample 1, Temperature, MSB 7 Sample 2, Heading, MSB 8 Sample 2, Heading, LSB 9 • • • • • • Sample K, Temperature, MSB (1 ≤ K ≤ 50) 6*N−1 Sample K, Temperature, LSB (Knominal = 13) 6*N 

(33) TABLE-US-00012 TABLE 10 Data Sample Set/Health & Status Message (created in Central Node) Data Description Byte1 Sample 1, Sensor 1, MSB 1 Sample 1, Sensor 1, LSB 2 Sample 1, Sensor 2, MSB 3 Sample 1, Sensor 2, LSB 4 Sample 1, Sensor 2, MSB 5 • 6 • 7 Sample 1, Sensor L, MSB 2*L−1 Sample 1, Sensor L, LSB 2*L  • • • • • • Sample K, Sensor L, MSB (1 ≤ J ≤ 20) L*J−1 Sample K, Sensor L, LSB (Jnominal = 13) L*J 

(34) SAM/Sensor pair calibration is performed when commanded via existing multiplexing digital circuitry at the SAM/sensor pair. The Central Node transmits the calibration command as directed by the user to SAM/sensor pairs individually or as a group. Electronic circuitry within the SAM generates a calibration signal of known amplitude and frequency content and connects the signal to the sensor being calibrated. The resulting sensor output, when compared with the known input, allows the user to develop a model of the sensor response and thus prepare a calibration curve for the sensor response.

(35) One skilled in the art recognizes that many of the particular components used in the examples described herein and depicted in the figures are merely exemplary. Alternative selections of COTS, GOTS and/or custom components based on specific intended application, power requirements, distance, and other environmental considerations are within the scope of the embodiments.