CN100541128C - The compensation method of no temperature controlled light source closed-loop fiber optic gyroscope and output angle velocity information thereof - Google Patents
The compensation method of no temperature controlled light source closed-loop fiber optic gyroscope and output angle velocity information thereof Download PDFInfo
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- CN100541128C CN100541128C CN 200610144326 CN200610144326A CN100541128C CN 100541128 C CN100541128 C CN 100541128C CN 200610144326 CN200610144326 CN 200610144326 CN 200610144326 A CN200610144326 A CN 200610144326A CN 100541128 C CN100541128 C CN 100541128C
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Abstract
The invention discloses a kind of compensation method of not having temperature controlled light source closed-loop fiber optic gyroscope and output angle velocity information thereof, no temperature controlled light source closed-loop fiber optic gyroscope does not have the temperature variation of temperature controlled light source tube core during with the digital temperature sensor collecting work at no temperature controlled light source place, by the angular velocity information after the signal processing apparatus output compensation; Connect the variation that another detector detects no temperature controlled light source Output optical power at the transmission D of coupling mechanism end, be used to drive the control information of no temperature controlled light source by signal processing apparatus output.The method that no temperature controlled light source closed-loop fiber optic gyroscope output angle velocity information is compensated: at first adopt regression analysis to try to achieve the centre wavelength of no temperature controlled light source emergent light and the match of temperature concerns λ (t)=(X+Yt+Zt
2+ Wt
3) * 10
-9, the centre wavelength by optical fibre gyro output and no temperature controlled light source emergent light concerns D then
Out=F
D* λ/λ
0Come good compensated optical fiber gyro output angle velocity information because the drift that temperature variation is brought.
Description
Technical field
The present invention relates to a kind of device and compensation scheme that the angular velocity information of no temperature controlled light source closed-loop fiber optic gyroscope output is compensated.
Background technology
General 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).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.
Optical fibre gyro output angle velocity information D
OUTWith the pass of light source center wavelength X be
In the formula, K represents output gain, and λ represents light source 1 centre wavelength, and L represents the length of optical fiber on the fiber optic loop 4, and D represents the diameter of fiber optic loop 4, and c represents the light velocity in the vacuum, and N represents the number of significant digit of digital-to-analog conversion, and Ω represents input angular velocity.
At present, what adopt on the high-precision optical fiber gyro in domestic mostly is the light source (SLD) that temperature control is arranged, and the SLD tube core is contained in its inside, heat sink, semiconductor cooler and thermistor etc.Under full temperature, its die temperature is controlled in certain scope, so just can suppress the temperature variant drift of light source center wavelength, exports temperature variant drift thereby reduced optical fibre gyro.But, this cost, the volume and weight that has the light source of temperature control is not suitable for the application of small-sized low-precision optical fiber gyro, for this reason, general solution is with refrigerator and heat sink removing, stay the SLD tube core, and take not have the shell package design, greatly reduce cost and volume, but also because there is not temperature control, its centre wavelength can change drift along with die temperature; Simultaneously, emergent light power also can drift about along with temperature variation, in order to guarantee the constant of luminous power, adopted the method for real-time adjustment drive current to compensate the variation of luminous power, this is with regard to the variation of the drive current that caused the light source center wavelength and also can cause along with temperature variation and change.
Summary of the invention
One of purpose of the present invention provides a kind of no temperature controlled light source closed-loop fiber optic gyroscope, is the temperature variation of not having the temperature controlled light source tube core at no temperature controlled light source place during with the digital temperature sensor collecting work, by the angular velocity information after the signal processing apparatus output compensation; Connect the variation that a detector detects no temperature controlled light source Output optical power at the transmission D of coupling mechanism end, be used to drive the control information of no temperature controlled light source by signal processing apparatus output.Solved the drift of temperature variation to optical fibre gyro output angle velocity information.
Another object of the present invention is to propose a kind of method that no temperature controlled light source closed-loop fiber optic gyroscope output angle velocity information is compensated, and this compensation method at first adopts regression analysis to try to achieve the centre wavelength of no temperature controlled light source emergent light and the match of temperature concerns λ (t)=(X+Yt+Zt
2+ Wt
3) * 10
-9, then by the relation of optical fibre gyro output with the centre wavelength of no temperature controlled light source emergent light
Come good compensated optical fiber gyro output angle velocity information because the drift that temperature variation is brought.
The present invention is a kind of no temperature controlled light source closed-loop fiber optic gyroscope, and digital temperature sensor is used for gathering no temperature controlled light source die temperature; Light source is no temperature controlled light source; The transmission A end welding of the output terminal of no temperature controlled light source and coupling mechanism, the transmission C end and the Y waveguide welding of coupling mechanism, Y waveguide and fiber optic loop welding, the transmission B end and the detector A welding of coupling mechanism, the transmission D end and the detector B welding of coupling mechanism, detector A, detector B, light source driving circuit, Y waveguide and signal processing apparatus electrically connect.
The present invention is a kind of compensation method of not having the output angle velocity information of temperature controlled light source closed-loop fiber optic gyroscope, is used to gather the digital temperature sensor output temperature information F of the temperature variation of no temperature controlled light source tube core
tGive signal processing apparatus, the described temperature information F of signal processing apparatus to receiving
tExport to the match device of central wavelength lambda and temperature t after adding up, being shifted, output center wavelength λ gives multiplier after treatment; Information output voltage information F after current/voltage-converted, analog to digital conversion to detector A output
vGive signal processing apparatus, described information of voltage F
vIn signal processing apparatus, carry out exporting digital quantity F after demodulation, the Integral Processing
D1Described digital quantity F
D1In staircase generator, generate staircase waveform and give D/A converter conversion back output; Described digital quantity F
D1Digital quantity F after the output filtering after adding up, being shifted
D, digital quantity F after the described filtering
D, described central wavelength lambda output angle velocity information after multiplier is handled
In the formula, λ
0Represent the no temperature controlled light source centre wavelength of emergent light at normal temperatures.
The compensation method of described output angle speed, it is λ (t)=(X+Yt+Zt that the match in its match device is closed
2+ Wt
3) * 10
-9, in the formula, X, Y, Z, W are constant, t is a die temperature; It is the relation of utilizing between the temperature t of no temperature controlled light source emergent light central wavelength lambda that regression analysis sets up out and no temperature controlled light source tube core.
The advantage that the present invention does not have the temperature controlled light source optical fibre gyro is: (one) adopts no temperature controlled light source to reduce the volume of closed-loop fiber optic gyroscope, has reduced production cost; (2) adopt single PIN pipe to detect intensity signal, reduced the volume of closed-loop fiber optic gyroscope effectively, production cost is also reduced greatly; (3) light source driving circuit adopts 16 bit digital input voltages to adjust signal resolution, and the precision of controlling and driving electric current is improved.
The advantage that the present invention does not have the optical fibre gyro output angle velocity information compensation method of temperature controlled light source is: (one) only needs assembling one digital temperature sensor in optical fibre gyro, in signal processing apparatus 6, the temperature of described sensor acquisition is carried out the computing of correlationship, thereby obtain the gyro output of compensation, this mode can overcome tests in the classic method and the raising of the optical fibre gyro production cost that stabilized light source additional hardware that centre wavelength is brought causes and the increase of volume.(2) take into account the stable control of no temperature controlled light source Output optical power simultaneously; (3) operation is simple in this compensation method, is very suitable for the robotization on the production line.
Description of drawings
Fig. 1 is the basic structure block diagram of optical fibre gyro.
Fig. 2 is the structured flowchart that the present invention does not have the optical fibre gyro of temperature controlled light source.
Fig. 3 is the processing block diagram of signal processing apparatus of the present invention to the temperature parameter of no temperature controlled light source.
Fig. 4 be under firm power drive current with variation of temperature.
Fig. 5 is that no temperature controlled light source centre wavelength is with variation of temperature.
Fig. 6 is regression model matched curve of the present invention.
Fig. 7 is the circuit theory diagrams of light source driving circuit.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
See also shown in Figure 2, the present invention is a kind of no temperature controlled light source closed-loop fiber optic gyroscope, be on existing fiber gyro basis, by adopting no temperature controlled light source 10 to substitute general light source 1, use digital temperature sensor 8 to gather the temperature variation of no temperature controlled light source 10 its tube core when work simultaneously, and being connected with detector B7 at the transmission D of coupling mechanism 2 end, detector B7 is used for not having when detected temperatures changes the variation of temperature controlled light source 10 Output optical power.In order to control the variation that no temperature controlled light source 10 varies with temperature the optical fibre gyro output angle velocity information that causes, drive current by detector B7, signal processing apparatus 6 and 9 pairs of no temperature controlled light sources 10 of light source driving circuit carries out real-time regulated on the one hand, by digital temperature sensor 8, signal processing apparatus 6 (processing procedure as shown in Figure 3) described closed-loop fiber optic gyroscope output angle velocity information is carried out real-Time Compensation on the other hand.In the present invention, the transmission A end welding of the output terminal of no temperature controlled light source 10 and coupling mechanism 2, the transmission C end and Y waveguide 3 weldings of coupling mechanism 2, Y waveguide 3 and fiber optic loop 4 weldings, the transmission B end and the detector A5 welding of coupling mechanism 2, the transmission D end and the detector B7 welding of coupling mechanism 2, detector A5, detector B7, light source driving circuit 9, Y waveguide 3 electrically connect with signal processing apparatus 6.Signal processing apparatus 6 is used for the output phase modulation signal and gives Y waveguide 3; Signal processing apparatus 6 output control signals are given light source driving circuit 9.
In the present invention, adopt no temperature controlled light source 10 to select the J06-85001 model for use, it is taked not have shell, is not had the refrigeration packing forms, has reduced the volume and the cost of closed-loop fiber optic gyroscope effectively.
In the present invention, detector A5, detector B7 all select single PIN pipe for use, and do not select PIN-FET for use, have reduced the volume of closed-loop fiber optic gyroscope effectively, and production cost is also reduced greatly.
The connection of each terminal of described light source driving circuit 9 is as follows:
See also shown in Figure 7, the present invention is that each terminal of hardware circuit of a kind of light source current drive circuit that adopts single-ended 3.3V power voltage supply connects and is: light source voltage is adjusted the serial port 7 ends input of data DIN by DA converter U1, serial clock signal SCLK is by the 6 ends input of DA converter U1, the 5 ends input of synchronizing signal SYNC by DA converter U1, more than three signal controlling DA converter U1 produce the adjustment voltage VD of light source driving circuits; The 8 end ground connection of DA converter U1,1 termination 3.3V supply voltage is connected to filter capacitor C3, filter capacitor C4 between 1 end and 8 ends, and filter capacitor C3 is in parallel with filter capacitor C4; 2 ends of DA converter U1 connect with 4 ends of reference voltage source JP1, U1 provides 2.5V reference voltage for the DA converter, be connected to filter capacitor C2 between 4 ends of reference voltage source JP1 and the ground, and 4 ends and 3 end short circuits, 5 end ground connection, 1 end of reference voltage source JP1,2 termination 3.3V supply voltages are connected to filter capacitor C1 between 3.3V supply voltage and the ground; The 2.5V voltage of 4 ends of reference voltage source JP1 output carries out ground connection after the dividing potential drop through resistance R 3, resistance R 4, and between resistance R 3 and resistance R 4 output 2V reference voltage to 3 ends of operational amplifier U2; Be connected to resistance R 2 between 4 ends of DA converter U1 and 2 ends of operational amplifier U2, and be connected to resistance R 1 between 4 ends of DA converter U1 and the ground; 1 end and 2 terminations of operational amplifier U2 have resistance R 5, and the 8 termination 3.3V supply voltages of operational amplifier U2 are connected to filter capacitor C6 between 3.3V supply voltage and the ground; The 4 end ground connection of operational amplifier U2 are connected to filter capacitor C5 between 4 ends and the ground simultaneously; The 3 end short circuits of 3 ends of operational amplifier U2 and operational amplifier U3 are connected to resistance R 7 between 1 end of operational amplifier U2 and 2 ends of operational amplifier U3; The 8 termination 3.3V supply voltages of operational amplifier U3 are connected to filter capacitor C9 between 3.3V supply voltage and the ground; The 4 end ground connection of operational amplifier U3 are connected to filter capacitor C10 between 4 ends and the ground simultaneously; Be connected to capacitor C 8 between 3 ends of operational amplifier U3 and the 3.3V supply voltage, be connected to resistance R 8 between 2 ends of operational amplifier U3 and the emitter of triode Q1,1 end of operational amplifier U3 connects with the base stage of triode Q1, the collector of triode Q1 connects with the 3.3V supply voltage, between the emitter of triode Q1 and the output port LD and be connected with resistance R 9, resistance R 10, resistance R 11; Be connected to resistance R 6 between 2 ends of operational amplifier U2 and the output port LD; Output port LD, 3.3V supply voltage provide drive current to no temperature controlled light source 10, and the drive current I of its output is smaller or equal to 150mA.
In the present invention, because light source 1 has adopted the J06-85001 type light source 10 of no temperature control, its central wavelength lambda can change drift along with die temperature t; Simultaneously, die temperature t changes and causes its emergent light variable power, in order to guarantee the constant of luminous power, adopted the mode of real-time adjustment drive current to compensate the variation of luminous power among the present invention, this also can change the variation of the drive current that causes and change with regard to having caused no temperature controlled light source 10 central wavelength lambda along with temperature t.Then have, no temperature controlled light source 10 central wavelength lambda and temperature t close be λ=λ (I (t), t)=λ (t), in the formula, λ represents not have temperature controlled light source 10 centre wavelengths, I represents not have the drive current of temperature controlled light source 10, t represents not have the die temperature of temperature controlled light source 10.
The present invention is a kind of method that no temperature controlled light source closed-loop fiber optic gyroscope output angle velocity information is compensated, and the step that the data message of digital temperature sensor 8 inputs is handled has:
(A) match that utilizes regression analysis to set up out between the temperature t of the central wavelength lambda of no temperature controlled light source 10 emergent lights and no temperature controlled light source 10 tube cores concerns λ (t)=(X+Yt+Zt
2+ Wt
3) * 10
-9, in the formula, X, Y, Z, W are constant, and t is a die temperature, and described match concerns λ (t)=(X+Yt+Zt
2+ Wt
3) * 10
-9Be stored in the E of signal processing apparatus 6
2Among the PROM, this is conventional storage mode.When no temperature controlled light source 10 is chosen J06-85001 model light source, when guaranteeing that Output optical power is certain value (100 μ W), the curve of the drive current I of light source driving circuit 9 output and die temperature t variation as shown in Figure 4, drive current I increases along with the rising of die temperature t.Breakdown for preventing light source, 95mA is set at the higher limit of drive current I.The curve that central wavelength lambda and temperature t change as shown in Figure 5, central wavelength lambda is linear substantially to be increased with the rising of temperature t.The match of central wavelength lambda and temperature t concerns λ (t)=(842.8-0.2t) * 10
-9, as shown in Figure 6, curve after the match and test curve are identical substantially.By F check and experimental verification, illustrate that the match that the present invention utilizes regression analysis to obtain between the temperature t of central wavelength lambda and no temperature controlled light source 10 tube cores concerns λ (t)=(X+Yt+Zt
2+ Wt
3) * 10
-9Be reasonable and feasible.
(B) adopt the match in the step (A) to concern λ (t)=(X+Yt+Zt
2+ Wt
3) * 10
-9, according to the temperature t that digital temperature sensor 8 is gathered, real-time resolving obtains the central wavelength lambda of described no temperature controlled light source 10 emergent lights.
(C) closed-loop fiber optic gyroscope output angle velocity information is compensated
See also shown in Figure 3ly, be used to gather the digital temperature sensor 8 output temperature information F of the temperature variation of no temperature controlled light source 10
tAdd up, be shifted for signal processing apparatus 6 and export to the match device of central wavelength lambda and temperature t after (being low-pass filtering), output center wavelength λ is to multiplier after treatment; Information output voltage information F after current/voltage-converted, analog to digital conversion to detector A 5 outputs
vGive signal processing apparatus 6, described information of voltage F
vIn signal processing apparatus 6, carry out exporting digital quantity F after demodulation, the Integral Processing
D1Described digital quantity F
D1In staircase generator, generate staircase waveform and give D/A converter conversion back output; Described digital quantity F
D1Output filtering figure amount F after add up, be shifted (being low-pass filtering)
D, described filtering figure amount F
D, described central wavelength lambda output angle velocity information after multiplier is handled
In the formula, λ
0Represent no temperature controlled light source 10 centre wavelength of emergent light at normal temperatures.
The present invention adopts the optical fibre gyro of no temperature control superluminescent diode light source (SLD), and the match of adopting regression analysis to obtain central wavelength lambda and temperature t under full temperature concerns λ (t)=(X+Yt+Zt
2+ Wt
3) * 10
-9, and the output angle velocity information carried out real-Time Compensation.On device, adopt no temperature controlled light source to reduce the volume of closed-loop fiber optic gyroscope, reduced production cost; Adopt single PIN pipe to detect intensity signal, further reduced its volume and reduced production cost; Light source driving circuit adopts 16 bit digital input voltages to adjust signal resolution, has improved the precision of controlling and driving electric current.
Claims (6)
1, a kind of no temperature controlled light source closed-loop fiber optic gyroscope comprises light source (1), coupling mechanism (2), Y waveguide (3), fiber optic loop (4), detector
(5), signal processing apparatus (6), it is characterized in that: also comprise detector B (7), digital temperature sensor (8), light source driving circuit (9), described light source (1) is chosen no temperature controlled light source (10);
Described digital temperature sensor (8) is used for gathering no temperature controlled light source (10) die temperature; The transmission A end welding of the output terminal of no temperature controlled light source (10) and coupling mechanism (2), the transmission C end and Y waveguide (3) welding of coupling mechanism (2), Y waveguide (3) and fiber optic loop (4) welding, the transmission B end and detector A (5) welding of coupling mechanism (2), the transmission D end and detector B (7) welding of coupling mechanism (2), detector A (5), detector B (7), light source driving circuit (9), Y waveguide (3) electrically connect with signal processing apparatus (6);
Digital temperature sensor (8) the output temperature information F that is used for the temperature variation of collection no temperature controlled light source (10) tube core
tGive signal processing apparatus (6), the described temperature information F of signal processing apparatus (6) to receiving
tExport to the match device of central wavelength lambda and temperature t after adding up, being shifted, output center wavelength λ gives multiplier after treatment; Information output voltage information F after current/voltage-converted, analog to digital conversion to detector A (5) output
vGive signal processing apparatus (6), described information of voltage F
vOutput digital quantity F after in signal processing apparatus (6), carrying out demodulation, Integral Processing
D1Described digital quantity F
D1In staircase generator, generate staircase waveform and give D/A converter conversion back output; Described digital quantity F
D1Digital quantity F after the output filtering after adding up, being shifted
D, digital quantity F after the described filtering
D, described central wavelength lambda output angle velocity information after multiplier is handled
In the formula, λ
0Represent no temperature controlled light source (10) centre wavelength of emergent light at normal temperatures.
2, no temperature controlled light source closed-loop fiber optic gyroscope according to claim 1 is characterized in that: described no temperature controlled light source (10) adopts J06-85001 type light source.
3, no temperature controlled light source closed-loop fiber optic gyroscope according to claim 1 is characterized in that: detector A (5), detector B (7) select single PIN pipe for use.
4, no temperature controlled light source closed-loop fiber optic gyroscope according to claim 1 is characterized in that: described digital temperature sensor (8) times of collection is 50～80 times/min.
5, no temperature controlled light source closed-loop fiber optic gyroscope according to claim 1, it is characterized in that: the connection of each terminal is in the described light source driving circuit (9), light source voltage is adjusted the serial port 7 ends input of data DIN by DA converter U1, serial clock signal SCLK is by the 6 ends input of DA converter U1, the 5 ends input of synchronizing signal SYNC by DA converter U1, more than three signal controlling DA converter U1 produce the adjustment voltage VD of light source driving circuits; The 8 end ground connection of DA converter U1,1 termination 3.3V supply voltage is connected to filter capacitor C3, filter capacitor C4 between 1 end and 8 ends, and filter capacitor C3 is in parallel with filter capacitor C4; 2 ends of DA converter U1 connect with 4 ends of reference voltage source JP1, U1 provides 2.5V reference voltage for the DA converter, be connected to filter capacitor C2 between 4 ends of reference voltage source JP1 and the ground, and 4 ends and 3 end short circuits, 5 end ground connection, 1 end of reference voltage source JP1,2 termination 3.3V supply voltages are connected to filter capacitor C1 between 3.3V supply voltage and the ground; The 2.5V voltage of 4 ends of reference voltage source JP1 output carries out ground connection after the dividing potential drop through resistance R 3, resistance R 4, and between resistance R 3 and resistance R 4 output 2V reference voltage to 3 ends of operational amplifier U2; Be connected to resistance R 2 between 4 ends of DA converter U1 and 2 ends of operational amplifier U2, and be connected to resistance R 1 between 4 ends of DA converter U1 and the ground; 1 end and 2 terminations of operational amplifier U2 have resistance R 5, and the 8 termination 3.3V supply voltages of operational amplifier U2 are connected to filter capacitor C6 between 3.3V supply voltage and the ground; The 4 end ground connection of operational amplifier U2 are connected to filter capacitor C5 between 4 ends and the ground simultaneously; The 3 end short circuits of 3 ends of operational amplifier U2 and operational amplifier U3 are connected to resistance R 7 between 1 end of operational amplifier U2 and 2 ends of operational amplifier U3; The 8 termination 3.3V supply voltages of operational amplifier U3 are connected to filter capacitor C9 between 3.3V supply voltage and the ground; The 4 end ground connection of operational amplifier U3 are connected to filter capacitor C10 between 4 ends and the ground simultaneously; Be connected to capacitor C 8 between 3 ends of operational amplifier U3 and the 3.3V supply voltage, be connected to resistance R 8 between 2 ends of operational amplifier U3 and the emitter of triode Q1,1 end of operational amplifier U3 connects with the base stage of triode Q1, the collector of triode Q1 connects with the 3.3V supply voltage, between the emitter of triode Q1 and the output port LD and be connected with resistance R 9, resistance R 10, resistance R 11; Be connected to resistance R 6 between 2 ends of operational amplifier U2 and the output port LD; Output port LD, 3.3V supply voltage provide drive current to no temperature controlled light source (10).
6, no temperature controlled light source closed-loop fiber optic gyroscope according to claim 1 is characterized in that: the drive current I of described light source driving circuit (9) output is smaller or equal to 150mA.
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| CN 200610144326 CN100541128C (en) | 2006-12-01 | 2006-12-01 | The compensation method of no temperature controlled light source closed-loop fiber optic gyroscope and output angle velocity information thereof |
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|---|---|---|---|---|
| CN101387524B (en) * | 2008-10-09 | 2010-12-22 | 北京航空航天大学 | Bias temperature error testing and compensating system suitable for optical fiber gyroscope |
| CN101639387B (en) * | 2009-09-11 | 2011-06-01 | 北京航空航天大学 | Optical fiber temperature sensor for detection based on wavelength corresponding to extreme value and temperature sensing method |
| CN102230806B (en) * | 2011-04-26 | 2012-11-28 | 中国科学院软件研究所 | Temperature drift compensation method for gyroscope |
| CN102322856B (en) * | 2011-06-01 | 2013-07-31 | 浙江大学 | Rapid closed-loop fiber optic gyroscope starting method based on modulation depth control |
| CN102607551B (en) * | 2012-03-21 | 2015-01-28 | 浙江大学 | Fiber optic gyroscope capable of eliminating influence of wavelength change to scale factor |
| WO2017089489A1 (en) * | 2015-11-27 | 2017-06-01 | Thales | On-chip trapped ultracold atom sensor allowing rotational velocity to be measured |
| CN110388910A (en) * | 2018-04-19 | 2019-10-29 | 上海亨通光电科技有限公司 | A kind of optical fibre gyro with light source self-checking function |
| CN108917792B (en) * | 2018-06-27 | 2021-05-07 | 北京航空航天大学 | Interference type optical fiber gyroscope optical power online monitoring method based on inverse demodulation |
| CN109186581A (en) * | 2018-09-25 | 2019-01-11 | 北京航空航天大学 | It is a kind of that integrated optical fiber gyroscope is multiplexed without the microminiature of refrigeration light source based on 850nm |
| CN116007662B (en) * | 2023-03-23 | 2023-06-20 | 中国船舶集团有限公司第七〇七研究所 | Optical fiber gyro and angular velocity correction method thereof |
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