The rear wheel speed sensor transmits the signal for the antilock brakes as well as supplying the signal for the speedometer. The sensor is located on top of the differential (rear of course). Check connections to the sensor. Corrosion or dirt and grime may be causing your problem. Clean the connector and apply WD 40 or contact cleaner and reinstall and see if that solves the problem. The sensor may be going bad but they are usually all or nothing.