CN100458367C - Four-state modulation and demodulation method for automatically tracking optical fiber gyro 2pai voltage - Google Patents
Four-state modulation and demodulation method for automatically tracking optical fiber gyro 2pai voltage Download PDFInfo
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- CN100458367C CN100458367C CNB2006100808574A CN200610080857A CN100458367C CN 100458367 C CN100458367 C CN 100458367C CN B2006100808574 A CNB2006100808574 A CN B2006100808574A CN 200610080857 A CN200610080857 A CN 200610080857A CN 100458367 C CN100458367 C CN 100458367C
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Abstract
The invention relates to a four-state modulate and demodulate method which can automatically track the 2 pi voltage of optical fiber gyro. Wherein, after powering the system, the central processor generates four different voltages according to the time sequence; then outputting them after D/A conversion to the signal modulate circuit to be amplified; the amplified signal drives he Y wave guide to modulate the phase to attain the phase difference between two light beams; the optical power information detected by the optical electric detecting circuit via A/D conversion is output to the central processor; the central processor will demodulate said real-time optical power and four different voltages to attain first information group P(delta Phi R1) of Sagnac phase difference in rotating state and the second information group P(delta Phi R2) of 2 pi voltage deflection error as the feedback signal of closed circuit, while the first information group is used to compensate the phase difference generated by the rotation speed of optical fiber gyro, and the second information group is used to control the amplitude of 2 pi voltage, to real-time control the 2 pi voltage accurately.
Description
Technical field
The present invention relates to a kind of modulation-demo-demodulation method of interference optical fiber top, more particularly, be meant and a kind of optical fibre gyro 2 π voltages carried out from modulation of four attitudes of motion tracking and demodulation method.
Background technology
Interference optical fiber top is a kind of instrument of measured angular speed, and its hardware comprises light source 1, coupling mechanism 2, Y waveguide 3, fiber optic loop 4, detector 5 and signal processing apparatus 6 compositions (seeing also shown in Figure 1).Described signal processing apparatus 6 comprises testing circuit 61, A/D converter 62, center processor 63, the D/A converter 64 of the optical power signals that is used to detect detector 5 outputs and amplifies modulate circuit 65 and form (seeing also shown in Figure 2).Interference optical fiber top to the measurement of angular velocity be by the two bundles light in opposite directions in fiber optic loop 4, propagated in the rotation of optical fibre gyro self, the non-reciprocal phase extent that causes characterizes.Gyro is responsive device with respect to the inertial space angular motion.It is used to measure the attitude angle and the angular velocity of carrier as a kind of important inertial sensor, is the core devices that constitutes inertia system.Be applied in aircraft navigation, ship navigation and land with in the navigation.
Generally adopt the control mode of close-loop feedback that total non-reciprocal phase difference is controlled at zero-bit at present to interference optical fiber top.Feedback realizes by applying voltage for Y waveguide 3, because of the impressed voltage of Y waveguide 3 is directly proportional with its phase modulation (PM) to light, its scale-up factor is presented as the ratio of 2 π voltages and 2 π phase places, thereby only provides 2 π voltages accurately could guarantee the accuracy of the light phase difference that Y waveguide 3 feeds back to.Thereby improve the degree of accuracy of the measured value of interference optical fiber top output effectively.
Summary of the invention
The objective of the invention is to propose a kind of optical fibre gyro 2 π voltages to be carried out modulation of four attitudes and demodulation method from motion tracking, this method is by a control information P (Δ φ who characterizes 2 π voltages to center processor 63 outputs
R)
2As the feedback information of Y waveguide 3, pass through a backfeed loop then with described control information P (Δ φ
R)
2Accurately be controlled at zero-bit.Because described control information P (Δ φ
R)
2Just can produce once through two transit time τ, the influence that it is not resetted by 2 π voltages, thus can adjust 2 π voltages timely and accurately, thus the degree of accuracy of optical fibre gyro outputting measurement value improved effectively.
The present invention a kind ofly carries out having the following steps: after system powers on, produce first kind of voltage status V at first in chronological order in turn by center processor from modulation of four attitudes of motion tracking and demodulation method to optical fibre gyro 2 π voltages
1, second kind of voltage status V
2, the third voltage status V
3With the 4th kind of voltage status V
4Magnitude of voltage; Then,
First kind of voltage status V with above-mentioned generation
1, second kind of voltage status V
2, the third voltage status V
3With the 4th kind of voltage status V
4Magnitude of voltage carry out exporting signal conditioning circuit to after the D/A converter conversion and carry out processing and amplifying; Then,
It is the first state phase difference φ in proper order that signal after the above-mentioned amplification is modulated the phase differential that obtains between the two-beam in order to the driving Y waveguide to light phase
1, the second state phase difference φ
2, third state phase difference φ
3, four condition phase difference φ
4
After system powers on, after the A/D converter conversion, export center processor to by the real-time detected luminous power information of photoelectric detective circuit; Then,
Described real-time luminous power information and the described first state phase difference φ of center processor to receiving
1, the second state phase difference φ
2, third state phase difference φ
3, four condition phase difference φ
4Carry out demodulation process and obtain first group of information P (Δ φ of the Sagnac phase differential under the rotary state
R1) and second group of information P (Δ φ of the control information of 2 π voltage deviation exact values
R2); And with the feedback signal of these two signals as closed loop, first group of information P (Δ φ
R1) be used for the phase differential that the rotating speed of compensated optical fiber gyro produces, second group of information P (Δ φ
R2) be used to control the amplitude of 2 π voltages, reach in real time the accurately purpose of control 2 π voltages.
Described optical fibre gyro 2 π voltages are carried out from modulation of four attitudes of motion tracking and demodulation method, the time interval that four kinds of of-state voltage values in the center reason device produce is τ/2, and τ represents the transit time of fiber optic loop in the optical fibre gyro.
Described optical fibre gyro 2 π voltages are carried out from modulation of four attitudes of motion tracking and demodulation method, to interfere the back to interfere the luminous power of output and the pass of phase differential be P=P to two-beam in its fiber optic loop
0(1+cos Δ φ
n), and the cosine function under the different conditions equates; In the formula, the Output optical power after P represents to interfere, P
0The luminous power of two-beam before expression is interfered, Δ φ
nThe phase differential that expression is gathered in real time, n are represented four times of different sections.
The advantage of modulation of the present invention's four attitudes and demodulation method is: (1) makes the every process of optical fibre gyro one-period just can produce the error amount of one 2 π voltage owing to adopt the modulation of four attitudes, is used for the adjustment of 2 π voltages, and it is fast to regulate the speed, the real-time height; (2) adopt the modulation of four attitudes, make optical fibre gyro work in four kinds of states,, can demodulate the error signal of the information of gyro rotating speed and 2 π voltage deviation exact values simultaneously and do not disturb mutually by the signal Processing center through detected four relevant informations of photodetector.
Description of drawings
Fig. 1 is the structured flowchart of optical fibre gyro.
Fig. 2 is the structured flowchart of the signal processing apparatus of optical fibre gyro.
Fig. 3 is the modulation waveform figure of four attitudes modulation.
Fig. 4 A is the dsp processor circuit theory diagrams.
Fig. 4 B is a FPGA processor circuit schematic diagram.
Fig. 4 C is testing circuit and A/D change-over circuit schematic diagram.
Fig. 4 D is the D/A conversion and amplifies the modulate circuit schematic diagram.
Among the figure: 1. light source 2. coupling mechanism 3.Y waveguides 4. fiber optic loop 5. detectors 6. signal processing apparatus 61. testing circuit 62.A/D converters 63. center processor 64.D/A converters 65. amplify modulate circuit
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
See also Fig. 1, shown in Figure 2, the light that the light source 1 of interference optical fiber top sends incides in the coupling mechanism 2, tell two-beam through coupling mechanism 2, wherein a branch of light is divided into the two ends that two-beam incides fiber optic loop 4 respectively again by Y waveguide 3, two-beam is interfered by Y waveguide 3 synthetic a branch of light behind fiber optic loop 4 one circles respectively again, incide in the detector 5 by coupling mechanism 2 then, the electric signal of the sign luminous power after detector 5 conversions is exported to signal processing apparatus 6, and signal processing apparatus 6 output modulation signals are given Y waveguide 3.Because the effect that Y waveguide 3 has phase modulation (PM), the size of added voltage is directly proportional with its size to the delay of light phase thereon, i.e. φ
n=kV
n, φ
nThe delay of expression light phase, k represents the index of modulation of Y waveguide, V
nExpression is carried in the voltage of Y waveguide.Utilize this characteristic in the present invention, after optical fibre gyro powered on, center processor 63 produced four kinds of of-state voltage values at first in chronological order in turn, i.e. first kind of voltage status V
1, second kind of voltage status V
2, the third voltage status V
3With the 4th kind of voltage status V
4, the of-state voltage value generation time in the center processor 63 is spaced apart τ/2, and wherein τ represents the transit time of fiber optic loop in the optical fibre gyro.And these four kinds of of-state voltage values are carried out exporting signal conditioning circuit 65 to after D/A converter 64 is changed carry out processing and amplifying, at last this amplifying signal being modulated the phase differential that obtains between the two-beam in order to 3 pairs of light phases of driving Y waveguide is the first state phase difference φ in proper order
1, the second state phase difference φ
2, third state phase difference φ
3, four condition phase difference φ
4Adopt after the four attitudes of the present invention modulation the phase differential waveform as shown in Figure 2, horizontal ordinate is time t among the figure, ordinate is a phase place, waveform is represented four attitude modulation signals of one-period among the figure, the signal period is 2 τ, is phase difference φ in first 1/4 modulation period
1, in individual 1/4 modulation period, be phase difference φ
2=2 π-Δ φ
1, in the 3rd 1/4 modulation period, be phase difference φ
3=-Δ φ
1, in the 4th 1/4 modulation period, be phase difference φ
4=-Δ φ
2It is P=P that two-beam interferes the back to interfere the luminous power of output and the pass of phase differential
0(1+cos Δ φ
n), and the cosine function under the different conditions is equal, in the formula, and the Output optical power after P represents to interfere, P
0The luminous power of two-beam before expression is interfered, Δ φ
nThe phase differential that expression is gathered in real time, n are represented four times of different sections.Exporting center processor 63 to through the luminous power information that photoelectric detective circuit detects in real time after A/D converter 62 conversions carries out demodulation process and obtains two groups of compensated informations of optical fibre gyro, first group of information P (Δ φ
R1) expression Sagnac phase differential, second group of information P (Δ φ under the rotary state
R2) expression 2 π voltage deviation exact values control information, use the feedback signal of these two signals then respectively, first group of information P (Δ φ as closed loop
R1) be used for the phase differential that the rotating speed of compensated optical fiber gyro produces, second group of information P (Δ φ
R2) be used to control the amplitude of 2 π voltages, reach in real time the accurately purpose of control 2 π voltages.
The present invention a kind ofly carries out from modulation of four attitudes of motion tracking and demodulation method optical fibre gyro 2 π voltages, this method by light in optical fibre gyro since optical fibre gyro self rotate the nonreciprocal phase shift that causes can be so that two-beam has certain phase difference Δ φ when interfering
R, make luminous power P (the Δ φ that detector 5 detects
R1) and phase difference φ
R1Satisfy: P (Δ φ
R1)=P
0(1+cos Δ φ
R), in the formula, P
0The interference light power of expression when the two-beam phase differential is zero.
Because Y waveguide 3 can change the phase place of the light of propagating in the fiber optic loop 4, can be carried in modulation signal on the two-beam of propagating in the fiber optic loop 4 the biasing phase when establishing optical fibre gyro work by method of the present invention by Y waveguide 3
b, itself and luminous power P (Δ φ
R) and phase difference φ
RSatisfy: P (Δ φ
R)=P
0[1+cos (Δ φ
R+ φ
b)], in the formula, φ
bPhase bias during the work of expression optical fibre gyro.
The partial circuit structure principle chart that is applicable to optical fibre gyro of the present invention is as described below:
Center processor is made up of FPGA and DSP, FPGA chooses the EGF10K10TC144 chip, DSP chooses the TMS320F206 chip, the connection of each terminal is shown in Fig. 4 B, 16 bi-directional data ends of FPGA treatment circuit D2 are connected with 16 bi-directional data ends of DSP treatment circuit D1, the 16 bit address input ends of FPGA treatment circuit D2 are connected with the 16 bit address output terminals of DSP treatment circuit D1, the control input end of FPGA treatment circuit D2 is connected with the control output end of DSP treatment circuit D1, the 12 bit data output terminals of FPGA treatment circuit D2 are connected with the 12 bit data input ends of four attitude modulation waveform generation circuit D3, the sheet choosing end of FPGA treatment circuit D2, write the sheet choosing end of input end and digital ladder wave generation circuit D3, write input end and connect, the digital signal output end of FPGA treatment circuit D2 is connected with the digital input end of the D/A change-over circuit D4 of analog output circuit.The connection of each terminal is shown in Fig. 4 A, 16 bi-directional data ends of DSP treatment circuit D1 are connected with 16 bi-directional data ends of FPGA treatment circuit D2, the 16 bit address input ends of FPGA treatment circuit D2 are connected with the 16 bit address output terminals of DSP treatment circuit D1, and the control input end of FPGA treatment circuit D2 is connected with the control output end of DSP treatment circuit D1.DSP treatment circuit and FPGA treatment circuit and the transmission that is connected realization data, address.
D/A converter 64 and amplification modulate circuit 65 are made up of D/A conversion DAC7545 chip and amplifier OPA627 chip.The connection of each terminal is shown in Fig. 4 D, the 12 bit data output terminals of FPGA treatment circuit D2 are connected with the 12 bit data input ends of digital ladder wave generation circuit D3, the sheet of FPGA treatment circuit D2 choosing end, write input end and hold with the sheet choosing of four attitude modulation waveform generation circuit D3, write input end and be connected.The digital signal output end of FPGA treatment circuit D2 is connected with the digital input end of the D/A change-over circuit D4 of analog output circuit, and the input end of analog signal 3 of the amplifying circuit NO6 in the analog signal output 1 of D/A change-over circuit D4 and the two-stage amplifying circuit is connected.
Claims (3)
1, a kind of optical fibre gyro 2 π voltages is carried out it is characterized in that: after system powers on, produce first kind of voltage status V at first in chronological order in turn by center processor (63) from modulation of four attitudes of motion tracking and demodulation method
1, second kind of voltage status V
2, the third voltage status V
3With the 4th kind of voltage status V
4Magnitude of voltage; Then,
First kind of voltage status V with above-mentioned generation
1, second kind of voltage status V
2, the third voltage status V
3With the 4th kind of voltage status V
4Magnitude of voltage carry out exporting signal conditioning circuit (65) to after D/A converter (64) conversion and carry out processing and amplifying; Then,
It is the first state phase difference φ in proper order that signal after the above-mentioned amplification is modulated the phase differential that obtains between the two-beam in order to driving Y waveguide (3) to light phase
1, the second state phase difference φ
2, third state phase difference φ
3, four condition phase difference φ
4
After system powers on, after A/D converter (62) conversion, export center processor (63) to by the real-time detected luminous power information of photoelectric detective circuit (61); Then,
Described real-time luminous power information and the described first state phase difference φ of center processor (63) to receiving
1, the second state phase difference φ
2, third state phase difference φ
3, four condition phase difference φ
4Carry out demodulation process and obtain first group of information P (Δ φ of the Sagnac phase differential under the rotary state
R1) and second group of information P (Δ φ of the control information of 2 π voltage deviation exact values
R2); And with the feedback signal of these two signals as closed loop, first group of information P (Δ φ
R1) be used for the phase differential that the rotating speed of compensated optical fiber gyro produces, second group of information P (Δ φ
R2) be used to control the amplitude of 2 π voltages, reach in real time the accurately purpose of control 2 π voltages.
2, according to claim 1 optical fibre gyro 2 π voltages are carried out from modulation of four attitudes of motion tracking and demodulation method, it is characterized in that: the time interval that four kinds of of-state voltage values in the center processor (63) produce is τ/2, and τ represents the transit time of fiber optic loop in the optical fibre gyro (4).
3, according to claim 1 optical fibre gyro 2 π voltages are carried out it is characterized in that from modulation of four attitudes of motion tracking and demodulation method: to interfere the back to interfere the luminous power of output and the pass of phase differential be P=P to two-beam in the fiber optic loop (4)
0(1+cos Δ φ
n), and the cosine function under the different conditions equates; In the formula, the Output optical power after P represents to interfere, P
0The luminous power of two-beam before expression is interfered, Δ φ
nThe phase differential that expression is gathered in real time, n are represented four times of different sections.
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| CN1945209B (en) * | 2006-10-20 | 2011-01-12 | 北京航空航天大学 | Combined modulating and demodulating method for inhibiting optic fiber gyroscope cross interference |
| CN1952601B (en) * | 2006-11-15 | 2011-04-13 | 北京航空航天大学 | Digital modulation argument adjusting instrument of optical fibre gyro based on FPGA |
| CN101246009B (en) * | 2008-02-29 | 2010-08-18 | 北京航空航天大学 | Digital closed-loop optic fiber gyroscope accidental modulating method based on four-state markov chain |
| CN104482931A (en) * | 2014-12-10 | 2015-04-01 | 西安中科华芯测控有限公司 | Method for rapidly starting closed-loop fiber optic gyroscope |
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| CN109631871B (en) * | 2018-12-09 | 2021-03-09 | 西安航天精密机电研究所 | Random modulation and demodulation method for inhibiting cross coupling of optical fiber gyroscope |
| CN109696180B (en) * | 2018-12-13 | 2020-03-06 | 北京航空航天大学 | Ultra-high precision fiber-optic gyroscope quantization error suppression method based on double-electrode Y waveguide |
| CN109737946B (en) * | 2018-12-28 | 2020-07-03 | 北京航空航天大学 | Automatic adjustment method for modulation depth in high-precision fiber-optic gyroscope four-state modulation |
| CN110006417B (en) * | 2019-03-15 | 2021-04-20 | 湖北三江航天红峰控制有限公司 | Random four-state modulation method for digital closed-loop fiber-optic gyroscope |
| CN112684542A (en) * | 2020-12-15 | 2021-04-20 | 中国电子科技集团公司第四十四研究所 | double-Y-branch optical waveguide phase modulator |
| CN112833874A (en) * | 2021-01-08 | 2021-05-25 | 中国船舶重工集团公司第七0七研究所 | Novel four-state modulation and demodulation method suitable for fiber-optic gyroscope |
| CN113916212B (en) * | 2021-09-30 | 2022-07-29 | 北京航空航天大学 | Second closed-loop control method suitable for light and small optical fiber gyroscope |
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