CN103335641B - Resonator optical gyroscope based on resonant intracavity modulation - Google Patents
Resonator optical gyroscope based on resonant intracavity modulation Download PDFInfo
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- CN103335641B CN103335641B CN201310265388.3A CN201310265388A CN103335641B CN 103335641 B CN103335641 B CN 103335641B CN 201310265388 A CN201310265388 A CN 201310265388A CN 103335641 B CN103335641 B CN 103335641B
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Abstract
The invention discloses a resonator optical gyroscope based on resonant intracavity modulation. The resonator optical gyroscope comprises a light source, an isolator, a coupler C0, a coupler C1, a coupler C2, an inactive Y-branch coupler, a resonant cavity, a modulator, a first prober, a second prober, a first signal processing circuit, a second signal processing circuit and a modulation signal output circuit. The gyroscope provided by the invention uses the resonant intracavity modulation to replace an external two-circuit modulator structure, so that a gyroscope model is simplified and the integration degree of the gyroscope is greatly improved. The resonance characteristic of the resonant cavity provided by the invention enhances the modulation characteristic, so that a modulation voltage is reduced. Furthermore, the gyroscope provided by the invention is only provided with a modulation arm, however, a double modulation effect is achieved and the power consumption of the system is reduced. The modulation manner corresponding to the intracavity modulation provided by the invention uses a simple periodic square wave modulation curve, so that the non-linear error of the triangular wave is removed when being compared with the triangular wave modulation curve which is commonly used in external modulation; the asymmetry of a waveform is avoided; the gyroscope is beneficial to improvement on the entire precision of the gyroscope.
Description
Technical field
The present invention relates to a kind of resonance type optical gyroscope based on resonant intracavity modulation, belong to the photoelectric sensings such as optical gyroscope
Technical field.
Background technology
At present, for optical pickocff, how to reduce the physical dimension of device, reduce device manufacturing cost, improve optics
The integration degree of sensor is the new and high technology that especially national governments of developed country, scientific and technological circle, industrial quarters are chased in the world.
Currently, adopt the system construction drawing shown in Fig. 1 resonance type optical gyroscope, the light being sent by light source is through Y-branch more
It is divided into identical two bundle.Modulated signal output circuit output modulated signal to modulator PM1 and modulator PM2, wherein clockwise
Direction（CW）Light through modulator PM1, adjust transmission optical frequency offset f1, afterwards through coupler C2And C0Enter resonator.
By the transmission coupling of resonator, then from the output of another input, through coupler C1Reach detector A, be converted into electric signal,
Feed back to light source after signal processing circuit, by the Frequency Locking of light source in the resonant frequency of CW.Light (CCW) warp counterclockwise
Ovennodulation device PM2, adjusts optical frequency offset f2, afterwards through coupler C1And C0Enter resonator.By the transmission coupling of resonator
Close, then from the output of another input, through coupler C2Reach detector B, be converted into electric signal, through signal processing circuit
Afterwards, as the output of gyro.By the difference of the optical signal of detection arrival detector it is possible to obtain difference on the frequency, thus learning
Magnitude of angular velocity.In whole system structure, resonator selects optical fiber or SiO 2 waveguide, and modulator part selects integrated optics
LiNbO3The modulation /demodulation of signal realized by modulator.So, modulator and the difference of resonance cavity material become whole gyro system
The important limiting factor that integration degree cannot increase substantially.Meanwhile, the modulation difference of modulator two-arm（Frequency is adjusted
Difference processed, intensity modulation difference, half-wave voltage difference）, all will produce significant impact to gyro performance.
Content of the invention
The invention aims to non-modularization in solution resonance type optical gyroscope, being difficult to that integrated, error is big, high cost
Problem, propose a kind of resonance type optical gyroscope based on resonant intracavity modulation.
A kind of resonance type optical gyroscope based on resonant intracavity modulation, including light source, isolator, coupler C0, coupler
C1, coupler C2, passive Y-branch coupler, resonator, modulator, the first detector, the second detector, first signal transacting electricity
Road, secondary signal process circuit, modulated signal output circuit；
Light source sends optical signal, and optical signal enters isolator, and optical signal passes through isolator one-way transmission, exports to passive Y
Branch coupler, optical signal is divided into equal two-beam by passive Y-branch coupler, leads up to coupler C2Enter coupler
C0, by coupler C0Enter resonator, form CW light path clockwise, in addition lead up to coupler C1Enter coupler C0, lead to
Overcoupling device C0Enter resonator, form CCW light path counterclockwise；It is provided with modulator, modulated signal output circuit is defeated in resonator
Go out modulation signal and load to modulator, by modulator load-modulate signal, changing the effective refractive index of resonator, making folding
The rate of penetrating reaches setting value；In resonator, CW light path clockwise, through modulators modulate, exports to the first detector, the first detector
Convert optical signal into electric signal, export to the first signal processing circuit, electric signal is through amplifying, filtering process, exports to light
Source, is controlled to light source so that light source output light frequency is always f0, realize Frequency Locking；CCW light counterclockwise in resonator
Road, through modulators modulate, exports to the second detector, the second detector converts optical signal into electric signal, exports to the second letter
Number process circuit, electric signal is through amplifying, filtering process, as the output of gyro, angular speed is detected according to the output of gyro.
It is an advantage of the current invention that：
（1）Gyro proposed by the present invention eliminates outside two-way modulator structure, and adopts intra resonant cavity to modulate, and simplifies
Top model, substantially increases the integration degree of gyro；
（2）The resonance characteristic of resonator enhances modulating characteristic so that modulation voltage reduces.And only one of which modulation arm,
But it is double modulation effect, reduce system power dissipation.And modulated square wave frequency can be very low, for example several KHz, to circuit band
Wide requirement is very low；
（3）The corresponding modulation system of intracavity modulation can adopt simple cycle square wave adjustment curve, with respect to external modulation
The triangular modulation curve commonly used, eliminate the nonlinearity erron of triangular wave, it is to avoid the asymmetry of waveform, is conducive to carrying
The overall precision of high gyro.
Brief description
Fig. 1 is the structural representation of resonance type optical gyroscope in prior art；
Fig. 2 is the structural representation of the present invention；
Fig. 3 a is the gyro signal frequency locking schematic diagram of resonant intracavity modulation of the present invention；
Fig. 3 b is the gyro signal detects schematic diagram of resonant intracavity modulation of the present invention.
In figure：
1- light source 2- isolator 3- coupler C0
4- coupler C15- coupler C26- passive Y-branch coupler
7- resonator 8- modulator 9- the first detector
10- the second detector 11- the first signal processing circuit 12- secondary signal process circuit
13- modulated signal output circuit
Specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention is a kind of resonance type optical gyroscope based on resonant intracavity modulation, as shown in Fig. 2 using resonator
Part, as modulator, replaces chamber external modulator, including light source 1, isolator 2, coupler C03rd, coupler C14th, coupler
C25th, passive Y-branch coupler 6, resonator 7, modulator 8, the first detector 9, the second detector 10, the first signal transacting electricity
Road 11, secondary signal process circuit 12, modulated signal output circuit 13.
Light source 1 sends optical signal, and optical signal enters isolator 2, and optical signal passes through isolator 2 one-way transmission, and isolator 2 makes
The optical signal that must return cannot reach light source 1, isolator 2 connected with passive Y-branch coupler 6 input, coupler C14th, couple
Device C25 are connected with two output ends of Y-branch coupler 6 respectively, and optical signal is divided into equal two by passive Y-branch coupler 6
Shu Guang, leads up to coupler C25 entrance coupler C03, by coupler C03 entrance resonators 7, form CW light path clockwise,
In addition lead up to coupler C14 entrance coupler C03, by coupler C03 entrance resonators 7, form CCW light path counterclockwise；
It is provided with modulator 8, modulated signal output circuit 13 output modulation signal loads to modulator 8, leads in resonator 7
Cross to modulator 8 load-modulate signal, change the effective refractive index in resonator 7, make refractive index reach setting value.
Input light in resonator 7 along along resonator 7 optic path process, through modulator 8.Modulator 8 is provided
Modulated signal, change be waveguide in resonator 7 effective refractive index, thus changing the resonance characteristic curve of resonator 7.
Taking square-wave modulation signal as a example, when being not added with modulated signal, resonance characteristic curve such as Fig. 3 of resonator 7（a）Bent in the middle of shown
Line, resonant frequency is f0；When adding square-wave modulation signal, the refractive index variable quantity that square-wave voltage ± V leads to is ± Δ n, by public affairs
Formula（1）Obtaining the phase place change brought of modulator that modulation length is L isBy formula（2）Obtain frequency variation be ±
Δ f, in formula, τ transmits the time used by a circle for light in resonator 7.It follows that when adding square-wave signal, resonance curve is respectively
Both direction shifted by delta f to the left and right.
For the light of CW direction clockwise transmission, when modulated signal output circuit 13 output square-wave modulation signal loads to tune
During device 8 processed, if the output light frequency of light source is f0, then the light output end institute output light that resonator 7 is connected with the first detector 9
Signal is direct current signal；If light source output light frequency is not f0, then the output optical signal of resonator 7 is ac square wave signal.This
Optical signal accesses the first detector 9, is converted to electric signal, and this electric signal accesses the first signal processing circuit 11, through amplifying, filtering
Ripple etc. is processed, and exports electric signal to light source, light source is controlled so that light source output light frequency is always f0.
Light for CCW direction counterclockwise transmission.When gyro remains static, now the output light frequency of light source is
f0, then the exported optical signal of light output end that resonator 7 is connected with the second detector 10 is direct current signal；If gyro is in rotation
Turn state, then the output optical signal of resonator 7 is ac square wave signal.This optical signal accesses the second detector 10, is converted to electricity
Signal, this electric signal accesses secondary signal process circuit 12, through the signal transacting such as amplifying, filtering, exports electric signal, as top
The output of spiral shell system.
Operation principle：
The light that light source 1 sends, after isolator, is divided into equal two-beam through passive Y-branch coupler 6.Wherein one tunnel
By coupler C25 and coupler C03 entrance resonators 7, form CW light path clockwise；In addition lead up to coupler C14 and coupling
Clutch C03 entrance resonators 7, form CCW light path counterclockwise.Modulator 8 is carried in resonator 7.Often transmit along light counterclockwise
One circle, then through primary modulation, modulation voltage is identical.Hypothesis CW light path is frequency locking road, then CCW then exports road for gyro.
To the modulator 8 in resonator 7 plus modulated signal（Square-wave frequency modulation, sine wave modulation, saw wave modulator etc.）, adjust
The change of voltage processed leads to the variations in refractive index of modulator zone, thus changing the effective refractive index of whole resonator 7.According to resonance
The output characteristics f=2 π nL/ λ in chamber, f are resonator centre frequency, and n is waveguide resonant cavity 7 effective refractive index, and L is resonator 7 chamber
Long, λ is optical wavelength transmission.When variations in refractive index, the centre frequency of resonator 7 changes.When added modulated signal is week
During phase property electric signal, then resonance curve periodicity swings.Result leads to constant into chamber light frequency, and change is resonance curve.
Assume that the frequency shift (FS) that modulated signal produces to resonator 7 is fPM, light source frequency f0, then resonance curve resonant frequency be respectively f0
+fFMAnd f0-fFM.As shown in Figure 3.
When carrying out Frequency Locking it is assumed that light source 1 output frequency to be locked in the resonance frequency of CW when resonator 7 does not add modulation
Rate.Method such as Fig. 3（a）Shown.Here taking simplest square-wave frequency modulation as a example.If light source output light frequency be f, not plus modulation
When, resonator 7 curve of output is shown in black dotted line, and resonant frequency is f0.When adding modulated signal, resonant frequency change is turned to
±fPM, then resonance curve is f in square wave positive half period respective resonant frequencies0+fFM, corresponding output signal is I1；Bear in square wave
Half period respective resonant frequencies f0-fFM, corresponding output signal is I2.If light source 1 frequency is f=f0, then I1=I2, for locking shape
State；If light source frequency f deviates f0, then I1≠I2, the optical signal that now the first detector 9 detects is square-wave signal, square wave amplitude
For I1And I2.Will | I1-I2| value be converted to current signal, adjust the output light frequency of light source 1, until making f=f0.Realize frequency
Rate locks, and is output as direct current signal.
After Frequency Locking, the curve of output characteristic of CCW is identical, such as Fig. 3（b）Shown.If resonator 7 does not rotate, CW and CCW
Two-way curve of output overlaps, resonant frequency fCW=fCCW=f0, the second detector 10 is output as straight line.Resonator 7 rotates
When, CW with CCW two-way light separates, and CW produces frequency difference fCW-fCCW=Δ f, the second detector 10 is output as square-wave signal.By detection
The size of this square-wave signal it is possible to obtain the size of frequency shift (FS), thus realizing the detection of angular speed.
So far frequency locking and the output overall process of resonance type optical gyroscope are achieved.
Wherein, the resonator 7 that the present invention is previously mentioned can be selected for following three kinds：Optical fiber（Single-mode fiber or polarization maintaining optical fibre）, no
Source waveguide, there is the waveguide of Electro-optical Modulation characteristic.If doing resonator 7 from optical fiber, now intracavity modulation device 8 can be selected for PZT（Pressure
Electroceramics）, by Optical Fiber Winding in PZT, by powering up, change the length of optical fiber to PZT, thus changing the resonance frequency of resonator 7
Rate；Other waveguide type phase-modulator may also be employed（Using lithium niobate waveguides modulator or silicon waveguide modulator）With fiber alignment
Form resonator 7, by the effective refractive index of Electro-optical Modulation characteristic changing waveguide, thus changing resonant frequency.If from passive
Resonator 7, such as silica, silicon nitride, glass etc. are done in waveguide, then can be added by carrying out ion doping etc. to modulator zone part
Work technique realizes modulating characteristic.If resonator 7 is from the waveguide with Electro-optical Modulation characteristic, such as LiNbO3Material, silicon substrate
The active materials such as material, organic polymer material, III-V race, then can apply electrooptic effect or plasma dispersion effect to realize electric light
Modulating characteristic.For the waveguide material that thermo-optical coeffecient is larger（Such as silicon etc.）, also frequency modulation(PFM) can be realized by thermo-optic effect.
The present invention is applied to various resonance type optical gyroscope structures.Light source 1 can be selected for the optical fiber source of narrow linewidth or partly leads
Body light source.
The creativeness of the present invention is embodied in：
（1）A part for resonator 7, as modulator 8, the modulator of alternative outside, substantially increases optical gyroscope
Integration degree.
（2）Resonator may be selected optical fiber, the waveguide with Electro-optical Modulation characteristic or passive wave guide, and each corresponding
The realization of modulator approach.
（3）Modulators modulate signal in resonator may be selected square-wave frequency modulation, sine wave modulation, saw wave modulator etc.,
To realize the skew of frequency.
（4）The present invention is applied to application resonator as the light path system of sensor.
Claims (6)
1. a kind of resonance type optical gyroscope based on resonant intracavity modulation, including light source (1), isolator (2), coupler C0(3)、
Coupler C1(4), coupler C2(5), passive Y-branch coupler (6), resonator (7), modulator (8), the first detector (9),
Second detector (10), the first signal processing circuit (11), secondary signal process circuit (12), modulated signal output circuit
(13)；
Light source (1) sends optical signal, and optical signal enters isolator (2), and optical signal passes through isolator (2) one-way transmission, export to
Passive Y-branch coupler (6), optical signal is divided into equal two-beam by passive Y-branch coupler (6), leads up to coupler
C2(5) enter coupler C0(3), by coupler C0(3) enter resonator (7), form CW light path clockwise, in addition a-road-through
Overcoupling device C1(4) enter coupler C0(3), by coupler C0(3) enter resonator (7), form CCW light path counterclockwise；Humorous
Shake and be provided with modulator (8) in chamber (7), modulated signal output circuit (13) output modulation signal loads to modulator (8), passes through
To modulator (8) load-modulate signal, change the effective refractive index in resonator (7), make refractive index reach setting value；Resonator
(7) in, CW light path clockwise is modulated through modulator (8), output the first detector (9), and optical signal is turned by the first detector (9)
Turn to electric signal, export to the first signal processing circuit (11), electric signal is through amplifying, filtering process, exports to light source (1),
Light source is controlled so that light source (1) output light frequency is always f0, realize Frequency Locking；In resonator (7) counterclockwise
CCW light path is modulated through modulator (8), exports to the second detector (10), the second detector (10) converts optical signal into electricity
Signal, exports to secondary signal process circuit (12), and electric signal is through amplifying, filtering process, as the output of gyro, according to top
The output of spiral shell detects angular speed.
2. a kind of resonance type optical gyroscope based on resonant intracavity modulation according to claim 1, described modulator (8)
Modulated signal be square-wave frequency modulation, sine wave modulation or saw wave modulator.
3. a kind of resonance type optical gyroscope based on resonant intracavity modulation according to claim 1, described resonator (7)
Using optical fiber, optical fiber is single-mode fiber or polarization maintaining optical fibre, and modulator (8) adopts piezoelectric ceramics, and Optical Fiber Winding is on piezoelectric ceramics.
4. a kind of resonance type optical gyroscope based on resonant intracavity modulation according to claim 1, described resonator (7)
Using optical fiber, optical fiber is single-mode fiber or polarization maintaining optical fibre, and modulator (8) adopts lithium niobate waveguides modulator or silicon waveguide
Device, forms resonator (7) with fiber alignment.
5. a kind of resonance type optical gyroscope based on resonant intracavity modulation according to claim 1, described resonator (7)
Using passive wave guide, modulator (8) adopts ion doping processing technology to realize.
6. a kind of resonance type optical gyroscope based on resonant intracavity modulation according to claim 1, described resonator (7)
Using the waveguide with Electro-optical Modulation characteristic.
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| CN111536960B (en) * | 2020-04-30 | 2022-01-18 | 浙江大学 | Double-ring parallel resonant gyro system and double-closed-loop digital demodulation method thereof |
| CN113310480B (en) * | 2021-05-19 | 2023-03-21 | 北京航空航天大学 | Optical gyroscope system based on silicon nitride waveguide resonant cavity |
| CN116045954B (en) * | 2023-03-31 | 2023-06-09 | 中国船舶集团有限公司第七〇七研究所 | Hybrid resonant cavity for optical gyro and optical gyro |
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