CN103278150A - Optical carrier microwave gyroscopic method for detecting angular velocity - Google Patents
Optical carrier microwave gyroscopic method for detecting angular velocity Download PDFInfo
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- CN103278150A CN103278150A CN2013101711877A CN201310171187A CN103278150A CN 103278150 A CN103278150 A CN 103278150A CN 2013101711877 A CN2013101711877 A CN 2013101711877A CN 201310171187 A CN201310171187 A CN 201310171187A CN 103278150 A CN103278150 A CN 103278150A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
- G01C19/721—Details
Abstract
The invention discloses an optical carrier microwave gyroscopic method for detecting angular velocity, which is used for measuring the rotational angular velocity through the forward and backward bidirectional high-stability microwave generated in the optical fiber ring by a bidirectional photoelectric oscillator based on the phase-locked frequency doubling technology. The core of the method is the application of the frequency doubling technology, the microwave oscillation frequency in one direction is locked to the high-stability standard time reference source, the relative cavity length of the photoelectric oscillator in the other direction is stabilized, temperature drift and optical parasitic noise of the fiber ring-shaped cavity are eliminated, and the signal-to-noise ratio of the bidirectional oscillation difference frequency signal caused by the Sagnac effect is improved greatly. The optical carrier microwave gyroscopic method for detecting angular velocity, provided by the invention, has the characteristics of being high in measurement precision and easy to realize, and so on.
Description
Technical field
The invention belongs to the high accuracy gyroscope technical field, relate in particular to a kind of light that detects angular velocity and carry microwave gyro method.
Background technology
In the inertial navigation field, normally adopt gyroscope to detect the carrier angular velocity of rotation.Gyroscope is widely used in guidance controls such as spacecraft, aircraft, guided missile, submarine, naval vessel, and the precision measurement in fields such as military affairs, industry, science plays an important role.Common high accuracy gyroscope instrument mainly contains three types: mechanical gyro, laser gyro and optical fibre gyro.Laser gyro and optical fibre gyro are all optical gyroscope, though degree of stability, has characteristics such as compact conformation, sensitivity height no more than mechanical gyro, occupy most of market share of high accuracy gyroscope at present.
The principle that optical gyroscope detects angular velocity is based on Sagnac effect (Sagnac effect).In closed light path, the edge of being sent by same light source clockwise the two-beam of (CW) and (CCW) transmission counterclockwise because rotation produces different optical path differences, thereby generation phase differential or difference on the frequency.The method of interference type optical fiber gyroscope detection angular velocity is to determine the angular velocity of rotation of closed light path by the phase differential of the two-beam that detects clockwise direction (CW) and counter clockwise direction (CCW) transmission.Conventional interference formula optical fibre gyro detects the method for angular velocity because the luminous power utilization factor is low, restrictions such as temperature error, parasitic noise, and its precision is difficult to further lifting.The method that resonance type optical gyroscope detects angular velocity is to determine angular velocity of rotation by detection clockwise direction (CW) and counter clockwise direction (CCW) two-beam resonance frequency difference.The tradition resonance type optical gyroscope mainly is laser gyro and resonance type optical fiber gyro.Laser gyro is the most ripe the earliest optical gyroscope, also is the highest optical gyroscope of present precision, but the method shortcoming of this detection angular velocity is to have latch up effect, system maintenance cost height, and the production difficulty is big.Its advantage of method that resonance type optical fiber gyro detects angular velocity mainly is the fiber lengths weak point that needs, be easy to microminiaturization, but very high to light source requirements, need the strong coherent source of arrowband live width, the resonance type optical fiber gyro measuring accuracy that realizes is lower at present, is difficult to reach practicability.
Summary of the invention
The objective of the invention is to overcome the deficiency that existing optical gyroscope detects the angular velocity method, provide a kind of light that detects angular velocity to carry microwave gyro method.
The method that the present invention detects angular velocity of rotation may further comprise the steps: a kind of light that detects angular velocity carries microwave gyro method, it is characterized in that, this method is carried the microwave gyro at the light that detects angular velocity and is realized that the light of described detection angular velocity carries the microwave gyro and comprises first laser instrument, beam splitter, first electrooptic modulator, first photo-coupler, frequency regulator, optic fiber ring-shaped cavity, second photo-coupler, first photodetector, first electrical filter, first microwave power distributor, first electric amplifier, second electrooptic modulator, second photodetector, second electrical filter, second microwave power distributor, second electric amplifier, the difference frequency testing circuit, frequency divider, the standard time source, phase detector, parts such as low-pass filter; This method may further comprise the steps:
Step 1: the light of first laser instrument output is through beam splitter, be divided into two-beam, a branch of light (CW) is along clockwise direction sent into first electrooptic modulator, light after ovennodulation is sent into first photo-coupler, go into optic fiber ring-shaped cavity from the light of first photo-coupler output through frequency regulator is laggard, send into first photodetector through second photo-coupler again from the light of ring cavity outgoing, convert light signal to electric signal, send into first electrical filter afterwards, filtered microwave electric signal is sent into first microwave power distributor, first microwave power distributor has two-way output, first via output is connected to first electrooptic modulator through electric amplifier, form a positive feedback oscillation loop, the second tunnel output is represented with RF#1 as the output of clockwise direction resonance microwave.
Step 2, another Shu Guang that beam splitter is told (CCW) in the counterclockwise direction sends into second electrooptic modulator, enter optic fiber ring-shaped cavity through second photo-coupler again, send into second photodetector through frequency regulator and first photo-coupler again from the light of ring cavity outgoing, convert light signal to electric signal, send into second electrical filter afterwards, filtered microwave electric signal is sent into second microwave power distributor, second microwave power distributor has three tunnel outputs, first via output is connected to second electrooptic modulator through second electric amplifier, form another positive feedback oscillation loop, the second tunnel output is as exporting as clockwise direction resonance microwave, represent with RF#2, together send into phase detector with the standard time source behind the Third Road output process frequency divider frequency division, phase demodulation output is connected to frequency regulator through behind the low-pass filter, be used for regulating resonance frequency, thereby form a unidirectional frequency locking loop.
Step 3, difference frequency testing circuit detect the clockwise resonance microwave output RF#1 of step 1 acquisition and the difference on the frequency of the anticlockwise resonance microwave output RF#2 that step 2 obtains, and namely beat frequency is designated as
Step 4, by following formula, can obtain angular velocity of rotation
Wherein,
SBe the area of annular light path encirclement,
λBe the wavelength of microwave oscillation centre frequency correspondence,
LBe the ring cavity girth.
Beneficial effect of the present invention is: the present invention is in conjunction with optical-electronic oscillator technology and traditional resonant optical mode gyro technology, and the light that has made up based on the detection angular velocity of Sagnac effect (Sagnac effect) principle carries microwave gyro method.This method obtains high stability microwave oscillation by the vibration of photoelectricity in the long optical fibers ring and replaces traditional optical generation, and is used for the measurement of angular velocity of rotation.The huge advantage of this method is that the frequency stability of microwave oscillation signal is high, can reach 10
-13, and a direction oscillation frequency can be locked onto on the higher standard time reference source of degree of stability, such as atomic clock, thereby the relative chamber of having stablized another direction optical-electronic oscillator is long, has eliminated temperature drift and the optics parasitic noise of optic fiber ring-shaped cavity.Simultaneously, the precision that the difference frequency of microwave signal detects can be higher than optical difference frequency far away and detect, and the former can detect difference on the frequency by amplifying several different methods such as frequency multiplication, improve signal to noise ratio (S/N ratio), and the latter detects by photodetector, thereby is subject to the size of luminous power, and signal to noise ratio (S/N ratio) is difficult to improve.Angular velocity detection method provided by the invention has characteristics such as measuring accuracy height, easy realization, can satisfy the requirement that high accuracy gyroscope is used.
Description of drawings
Fig. 1 is that the light that a kind of the present invention of application detects angular velocity carries the block diagram of system of microwave gyro method;
Fig. 2 is that the light that the another kind of the present invention of application detects angular velocity carries the block diagram of system of microwave gyroscope method;
Among the figure, first laser instrument 1, beam splitter 2, first electrooptic modulator 3, first photo-coupler 4, frequency regulator 5, optic fiber ring-shaped cavity 6, second photo-coupler 7, first photodetector 8, first electrical filter 9, first microwave power distributor 10, first electric amplifier 11, second electrooptic modulator 12, second photodetector 13, second electrical filter 14, second microwave power distributor 15, second electric amplifier 16, difference frequency testing circuit 17, frequency divider 18, standard time source 19, phase detector 20, low-pass filter 21, second laser instrument 22.Solid line represents that partly light path connects, and is light-path; The dotted portion indication circuit connects, and is electric pathway.
Embodiment
Measuring principle of the present invention is summarized as follows:
Adopt laser instrument, electrooptic modulator, photo-coupler, optic fiber ring-shaped cavity, photodetector, electrical filter, electric amplifier etc. to constitute two two-way regenerative feedback loops among the present invention, utilization modulation and bi-directional RF/microwave signal that the filtering frequency-selecting is stablized, frequency spectrum is clean are used for responsive angular velocity of rotation.Simultaneously, adopt PHASE-LOCKED LOOP PLL TECHNIQUE, by the feedback regulation control resonance frequency, with the RF semaphore lock of the loop oscillation of one of them direction to high precision standard time reference source.
The present invention is based on the photoelectricity oscillation technology, belong to bi-directional light electric oscillation method.The interval of the oscillating loop starting of oscillation pattern of optical-electronic oscillator is fundamental frequency
f b Determined by the time-delay of loop to light signal, namely
f b =1/
τ, wherein
τBe amount of delay, by
τ=
Nl/CDetermine, wherein
nBe optical fibre refractivity,
lBe loop-length,
CBe the light velocity.So when light path changed, the interval of starting of oscillation pattern changed, the resonance microwave frequency of output changes.When gyroscope with angular velocity
Ω r During rotation, the light of clockwise direction (CW) and (CCW) propagation counterclockwise is because Sagnac effect (Sagnac effect) causes optical path difference:
Wherein
L Cw ,
L Ccw Be suitable anticlockwise light path,
SBe the area of annular light path encirclement,
CBe the light velocity,
Ω r Be angular velocity of rotation.
The difference on the frequency of the resonance microwave of the suitable output of bi-directional light electric oscillation counterclockwise that Sagnac effect (Sagnac effect) causes is:
Wherein
λBe the wavelength of microwave oscillation centre frequency correspondence,
LBe the ring cavity girth.
So can realize the measurement of angular velocity of rotation by the RF signal beat frequency that detects forward and reverse vibration output.
Below in conjunction with a kind of concrete embodiment of accompanying drawing 1 explanation.The light that the present invention detects angular velocity carries microwave gyro method and carries the microwave gyro at the light that detects angular velocity and realize that the light of described detection angular velocity carries the microwave gyro and comprises first laser instrument 1, beam splitter 2, first electrooptic modulator 3, first photo-coupler 4, frequency regulator 5, optic fiber ring-shaped cavity 6, second photo-coupler 7, first photodetector 8, first electrical filter 9, first microwave power distributor 10, first electric amplifier 11, second electrooptic modulator 12, second photodetector 13, second electrical filter 14, second microwave power distributor 15, second electric amplifier 16, difference frequency testing circuit 17, frequency divider 18, standard time source 19, phase detector 20, parts such as low-pass filter 21.
This method may further comprise the steps:
1, the light of first laser instrument, 1 output is through beam splitter 2, be divided into two-beam, a branch of light (CW) is along clockwise direction sent into first electrooptic modulator 3, light after ovennodulation is sent into first photo-coupler 4, go into optic fiber ring-shaped cavity 6 from the light of first photo-coupler 4 output through frequency regulator 5 is laggard, send into first photodetector 8 through second photo-coupler 7 again from the light of ring cavity outgoing, convert light signal to electric signal, send into first electrical filter 9 afterwards, filtered microwave electric signal is sent into first microwave power distributor 10, first microwave power distributor 10 has two-way output, first via output is connected to first electrooptic modulator 3 through electric amplifier 11, form a positive feedback oscillation loop, the second tunnel output is represented with RF#1 as the output of clockwise direction resonance microwave.
2, another Shu Guang that beam splitter 2 is told (CCW) in the counterclockwise direction sends into second electrooptic modulator 12, enter optic fiber ring-shaped cavity 6 through second photo-coupler 7 again, send into second photodetector 13 through frequency regulator 5 and first photo-coupler 4 again from the light of ring cavity outgoing, convert light signal to electric signal, send into second electrical filter 14 afterwards, filtered microwave electric signal is sent into second microwave power distributor 15, second microwave power distributor 15 has three tunnel outputs, first via output is connected to second electrooptic modulator 12 through second electric amplifier 16, form another positive feedback oscillation loop, the second tunnel output is as exporting as clockwise direction resonance microwave, represent with RF#2, together send into phase detector 20 with standard time source 19 behind Third Road output process frequency divider 18 frequency divisions, phase demodulation output is connected to frequency regulator 5 through behind the low-pass filter 21, be used for regulating resonance frequency, thereby form a unidirectional frequency locking loop.
3, difference frequency testing circuit 17 detects the clockwise resonance microwave output RF#1 of step 1 acquisition and the difference on the frequency of the anticlockwise resonance microwave output RF#2 that step 2 obtains, and namely beat frequency is designated as
4, by following formula, can obtain angular velocity of rotation
Wherein,
SBe the area of annular light path encirclement,
λBe the wavelength of microwave oscillation centre frequency correspondence,
LBe the ring cavity girth.
Accompanying drawing 2 is second kind and uses the system that light that the present invention detects angular velocity carries microwave gyro method, with the difference of first kind of embodiment be, along the light of input counterclockwise by two independently laser instrument provide, the annexation of remainder is identical with the course of work.
Those skilled in the art person can be easy to can make multiple variation and change not breaking away under the thought of the present invention and range of condition that claims limits according to text description provided by the present invention, accompanying drawing and claims.Every foundation technological thought of the present invention and essence is to any modification, equivalent variations that above-described embodiment carries out, all belongs within the protection domain that claim of the present invention limits.
Claims (1)
1. a light that detects angular velocity carries microwave gyro method, it is characterized in that, this method is carried the microwave gyro at the light that detects angular velocity and is realized that the light of described detection angular velocity carries the microwave gyro and comprises first laser instrument (1), beam splitter (2), first electrooptic modulator (3), first photo-coupler (4), frequency regulator (5), optic fiber ring-shaped cavity (6), second photo-coupler (7), first photodetector (8), first electrical filter (9), first microwave power distributor (10), first electric amplifier (11), second electrooptic modulator (12), second photodetector (13), second electrical filter (14), second microwave power distributor (15), second electric amplifier (16), difference frequency testing circuit (17), frequency divider (18), standard time source (19), phase detector (20), low-pass filter parts such as (21); This method may further comprise the steps:
Step 1: the light of first laser instrument, 1 output is through beam splitter (2), be divided into two-beam, a branch of light (CW) is along clockwise direction sent into first electrooptic modulator (3), light after ovennodulation is sent into first photo-coupler (4), go into optic fiber ring-shaped cavity (6) from the light of first photo-coupler (4) output through frequency regulator (5) is laggard, send into first photodetector (8) through second photo-coupler (7) again from the light of ring cavity outgoing, convert light signal to electric signal, send into first electrical filter (9) afterwards, filtered microwave electric signal is sent into first microwave power distributor (10), first microwave power distributor (10) has two-way output, first via output is connected to first electrooptic modulator (3) through electric amplifier (11), form a positive feedback oscillation loop, the second tunnel output is represented with RF#1 as the output of clockwise direction resonance microwave;
Step 2, another Shu Guang that beam splitter (2) is told (CCW) in the counterclockwise direction sends into second electrooptic modulator (12), enter optic fiber ring-shaped cavity (6) through second photo-coupler (7) again, pass through frequency regulator (5) again and first photo-coupler (4) is sent into second photodetector (13) from the light of ring cavity outgoing, convert light signal to electric signal, send into second electrical filter (14) afterwards, filtered microwave electric signal is sent into second microwave power distributor (15), second microwave power distributor (15) has three tunnel outputs, first via output is connected to second electrooptic modulator (12) through second electric amplifier (16), form another positive feedback oscillation loop, the second tunnel output is as exporting as clockwise direction resonance microwave, represent with RF#2, together send into phase detector (20) with standard time source (19) behind Third Road output process frequency divider (18) frequency division, be connected to frequency regulator (5) behind the phase demodulation output process low-pass filter (21), be used for regulating resonance frequency, thereby form a unidirectional frequency locking loop;
Step 3, difference frequency testing circuit (17) detect the clockwise resonance microwave output RF#1 of step 1 acquisition and the difference on the frequency of the anticlockwise resonance microwave output RF#2 that step 2 obtains, and namely beat frequency is designated as
Step 4, by following formula, can obtain angular velocity of rotation
Wherein,
SBe the area of annular light path encirclement,
λBe the wavelength of microwave oscillation centre frequency correspondence,
LBe the ring cavity girth.
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| CN201310171187.7A CN103278150B (en) | 2013-05-10 | 2013-05-10 | A kind of light of detection angle speed carries microwave gyroscope method |
| PCT/CN2014/081079 WO2014180451A2 (en) | 2013-05-10 | 2014-06-30 | Optical carrier microwave gyroscope method for detecting angular velocity |
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| CN103471579A (en) * | 2013-09-29 | 2013-12-25 | 浙江大学 | Angular velocity detection method adopting two-way full reciprocity coupling optoelectronic oscillator |
| WO2014180451A2 (en) * | 2013-05-10 | 2014-11-13 | 浙江大学 | Optical carrier microwave gyroscope method for detecting angular velocity |
| CN107941754A (en) * | 2017-11-14 | 2018-04-20 | 陈志忠 | A kind of measuring method of gas refracting index |
| CN108614126A (en) * | 2018-05-30 | 2018-10-02 | 北京交通大学 | Angular velocity measurement device and method based on wideband adjustable optical-electronic oscillator |
| CN109323690A (en) * | 2018-10-31 | 2019-02-12 | 浙江大学 | A kind of method that the full reciprocity bi-directional light of polarization-maintaining carries microwave resonance system and its detects angular speed |
| CN109357672A (en) * | 2018-10-31 | 2019-02-19 | 浙江大学 | A method of the bi-directional light based on circulator structure carries microwave resonance system and its detection angular speed |
| WO2020087423A1 (en) * | 2018-10-31 | 2020-05-07 | 浙江大学 | Bidirectional optical-carrying microwave resonance system based on circulator structure and method for detecting angular velocity by said system |
| WO2020087422A1 (en) * | 2018-10-31 | 2020-05-07 | 浙江大学 | Polarization-maintaining fully-reciprocal bi-directional optical carrier microwave resonance system and angular velocity measurement method thereof |
| CN113418520A (en) * | 2021-07-09 | 2021-09-21 | 赛德雷特(珠海)航天科技有限公司 | Device and method for measuring working angular rate of electromagnetic gyroscope based on complementary voltage-controlled oscillator |
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| WO2014180451A2 (en) | 2014-11-13 |
| WO2014180451A3 (en) | 2015-01-15 |
| CN103278150B (en) | 2015-10-28 |
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