CN109029413B - Double-working-frequency optical fiber gyroscope - Google Patents
Double-working-frequency optical fiber gyroscope Download PDFInfo
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- CN109029413B CN109029413B CN201811029731.3A CN201811029731A CN109029413B CN 109029413 B CN109029413 B CN 109029413B CN 201811029731 A CN201811029731 A CN 201811029731A CN 109029413 B CN109029413 B CN 109029413B
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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
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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
- G01C19/725—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 using nxn optical couplers, e.g. 3x3 couplers
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Abstract
The invention discloses a double-working-frequency fiber-optic gyroscope, which comprises a light source, a polarization controller, a fiber-optic beam splitter, a first fiber grating, a first wavelength division multiplexer, a fiber-optic coupler, a fiber-optic ring, a second wavelength division multiplexer, a second fiber grating, a spectrometer and a signal processing and output system, wherein the polarization controller is connected with the fiber-optic beam splitter; the first fiber grating and the second fiber grating are both narrow-band transmission fiber gratings; the transmission center frequency of the first fiber grating is different from that of the second fiber grating; the light source is a broadband light source, and the spectral range of the light source comprises the transmission center frequency of the first fiber bragg grating and the transmission center frequency of the second fiber bragg grating; the difference value of the resonant frequencies of two beams of light waves transmitted in opposite directions is used for obtaining the magnitude and the direction of the rotation speed of the fiber-optic gyroscope at the same time; the invention has the following effects and benefits: the structure is simple, the optical noise is low, the interference between two beams of light waves transmitted in opposite directions is avoided, and the rotating speed direction can be distinguished without carrying out phase modulation on optical signals.
Description
Technical Field
The invention relates to the technical field of fiber optic gyroscopes, in particular to a dual-working-frequency fiber optic gyroscope.
Background
In 1976, the first fiber-optic gyroscope was successfully developed by v.vali and r.w.shorthill at the university of Utah, and the fiber-optic gyroscope, once coming out, has attracted extensive attention worldwide due to its advantages of fast start, long life, low power consumption, and the like, and has rapidly developed. The fiber optic gyroscope is based on the Sagnac effect, i.e., light waves generate extra phase due to the rotation of relative inertial space during transmission. At present, a conventional resonant fiber optic gyroscope employs an optical fiber ring resonator, when the gyroscope rotates, the resonant frequency of the optical wave in the optical fiber ring resonator changes with the rotation speed, and for two optical waves transmitted in opposite directions in the optical fiber ring resonator, the transmission directions of the two optical waves are opposite, the transmission direction of one optical wave is the same as the rotation speed direction, and the transmission direction of the other optical wave is different from the rotation speed direction, therefore, the resonant frequencies of the two optical waves transmitted in opposite directions are different, and the difference between the two resonant frequencies is in direct proportion to the rotation speed, so that the rotation speed can be measured by detecting the resonant frequency difference between the two optical waves transmitted in opposite directions in the resonant fiber optic gyroscope.
However, for the conventional resonant fiber optic gyroscope, the light source is a narrow-band light source, the coherence is strong, and the light source needs to be split after being output so as to introduce two beams of light waves which are transmitted oppositely at the same time; on the other hand, the two light waves transmitted in the gyroscope in opposite directions have the same frequency and resonate in the same optical fiber ring resonator, so that the two light waves have the same resonance spectrum and cannot be distinguished, and therefore, the rotation speed direction is difficult to distinguish, and the rotation speed direction can be distinguished only by adding optical devices such as a phase modulator and a complex signal processing system.
Disclosure of Invention
Based on the defects, the invention provides the double-working-frequency fiber-optic gyroscope, wherein the frequencies of two beams of light waves transmitted in opposite directions are different, the interference between the two beams of light waves transmitted in opposite directions is avoided, the size and the direction of the rotation speed are obtained simultaneously according to the difference value of the resonance frequencies of the two beams of light waves transmitted in opposite directions, and the problems that the conventional resonant fiber-optic gyroscope is complex in structure, high in optical noise and difficult in distinguishing the rotation speed direction are solved.
The purpose of the invention is realized as follows: a dual-working-frequency fiber-optic gyroscope comprises a light source, a polarization controller, a fiber-optic beam splitter, a first fiber grating, a first wavelength division multiplexer, a fiber-optic coupler, a fiber-optic ring, a second wavelength division multiplexer, a second fiber grating, a spectrometer and a signal processing and output system, wherein the light output end of the light source is connected with the light input end of the polarization controller, the light output end of the polarization controller is connected with the light input end of the fiber-optic beam splitter, the electrical signal output end of the spectrometer is connected with the electrical signal input end of the signal processing and output system,
the first optical output end of the optical fiber beam splitter is connected with the optical input end of the first optical fiber grating, the optical output end of the first optical fiber grating is connected with the optical input end of the first wavelength division multiplexer, the optical input and output end of the first wavelength division multiplexer is connected with the first optical input and output end of the optical fiber coupler, the optical output end of the first wavelength division multiplexer is connected with the first optical input end of the spectrometer, the second optical input and output end of the optical fiber coupler is connected with the first optical input and output end of the optical fiber ring, and the third optical input and output end of the optical fiber coupler is connected with the second optical input and output end of the optical fiber ring; the optical fiber coupler and the optical fiber ring form an optical fiber ring resonant cavity, and two oppositely transmitted light waves exist in the optical fiber ring resonant cavity;
the second optical output end of the optical fiber beam splitter is connected with the optical input end of the second optical fiber grating, the optical output end of the second optical fiber grating is connected with the optical input end of the second wavelength division multiplexer, the optical input and output end of the second wavelength division multiplexer is connected with the fourth optical input and output end of the optical fiber coupler, and the optical output end of the second wavelength division multiplexer is connected with the second optical input end of the spectrometer;
the transmission center frequency of the first fiber grating is different from that of the second fiber grating;
the first fiber grating and the second fiber grating are both narrow-band transmission fiber gratings;
the light source is a broadband light source, and the spectral range of the light source comprises the transmission center frequency of the first fiber bragg grating and the transmission center frequency of the second fiber bragg grating;
the transmission center frequency of the first fiber bragg grating, the working frequency of the optical input end of the first wavelength division multiplexer, the working frequency of the optical output end of the second wavelength division multiplexer are the same in frequency;
the transmission center frequency of the second fiber bragg grating, the working frequency of the optical input end of the second wavelength division multiplexer, the working frequency of the optical output end of the first wavelength division multiplexer are the same in frequency;
the optical fiber gyroscope comprises an optical fiber beam splitter, a spectrometer and a signal processing and output system, wherein a first optical output end and a second optical output end of the optical fiber beam splitter respectively output two beams of light waves which are transmitted in opposite directions, the spectrometer processes resonance spectrums of the two received light waves and converts the resonance spectrums into electric signals, the electric signals are processed into difference values of resonance frequencies of the two beams of light waves by the signal processing and output system, and then signals are output and comprise the rotation speed and the rotation direction of the optical fiber gyroscope.
The invention also has the following technical characteristics:
1. the frequency of two beams of light waves which are output by the first light output end and the second light output end of the optical fiber beam splitter and transmitted in opposite directions is different; the interference between two beams of light waves transmitted in opposite directions is avoided.
2. The signal processing and output system comprises a band-pass filter circuit, an amplifying circuit and an extraction output circuit; the electric signal output end of the spectrometer is connected with the electric signal input end of the band-pass filter circuit, the electric signal output end of the band-pass filter circuit is connected with the electric signal input end of the amplifying circuit, the electric signal output end of the amplifying circuit is connected with the electric signal input end of the extraction output circuit, and the electric signal output end of the extraction output circuit outputs a gyro output signal.
The invention has the following beneficial effects and advantages: the invention has simple structure, the frequency of two beams of light waves transmitted in opposite directions is different, the interference between the two beams of light waves is avoided, the light noise is reduced, and the invention does not contain a phase modulation device and can distinguish the rotating speed direction without carrying out phase modulation on optical signals.
Drawings
Figure 1 is a schematic view of the overall structure of the present invention,
fig. 2 is a schematic circuit diagram of the signal processing and output system in fig. 1.
Detailed Description
The invention is further illustrated by way of example in the accompanying drawings of the specification:
example 1
As shown in fig. 1-2, a dual-working-frequency fiber optic gyroscope includes a light source 1, a polarization controller 2, a fiber beam splitter 3, a first fiber grating 4, a first wavelength division multiplexer 5, a fiber coupler 6, a fiber ring 7, a second wavelength division multiplexer 8, a second fiber grating 9, a spectrometer 10, and a signal processing and output system 11, wherein an optical output end of the light source 1 is connected to an optical input end of the polarization controller 2, an optical output end of the polarization controller 2 is connected to an optical input end of the fiber beam splitter 3, an electrical signal output end of the spectrometer 10 is connected to an electrical signal input end of the signal processing and output system 11, and an electrical signal output end of the signal processing and output system 11 outputs a gyroscope output signal;
the first optical output end of the optical fiber beam splitter 3 is connected with the optical input end of the first optical fiber grating 4, the optical output end of the first optical fiber grating 4 is connected with the optical input end of the first wavelength division multiplexer 5, the optical input and output end of the first wavelength division multiplexer 5 is connected with the first optical input and output end of the optical fiber coupler 6, the optical output end of the first wavelength division multiplexer 5 is connected with the first optical input end of the spectrometer 10, the second optical input and output end of the optical fiber coupler 6 is connected with the first optical input and output end of the optical fiber ring 7, and the third optical input and output end of the optical fiber coupler 6 is connected with the second optical input and output end of the optical fiber ring 7; the optical fiber coupler 6 and the optical fiber ring 7 form an optical fiber ring resonator, and two optical waves transmitted in opposite directions exist in the optical fiber ring resonator, as shown in fig. 1, the transmission directions of the two optical waves are clockwise direction and counterclockwise direction respectively;
a second light output end of the optical fiber beam splitter 3 is connected with a light input end of a second optical fiber grating 9, a light output end of the second optical fiber grating 9 is connected with a light input end of a second wavelength division multiplexer 8, a light input and output end of the second wavelength division multiplexer 8 is connected with a fourth light input and output end of the optical fiber coupler 6, and a light output end of the second wavelength division multiplexer 8 is connected with a second light input end of a spectrometer 10;
the transmission center frequency of the first fiber grating 4 is different from that of the second fiber grating 9;
the first fiber grating 4 and the second fiber grating 9 are both narrow-band transmission fiber gratings;
the light source 1 is a broadband light source, and the spectral range of the light source comprises the transmission center frequency of the first fiber bragg grating 4 and the transmission center frequency of the second fiber bragg grating 9;
the transmission center frequency of the first fiber bragg grating 4, the working frequency of the optical input end of the first wavelength division multiplexer 5 and the working frequency of the optical output end of the second wavelength division multiplexer 8 are the same in frequency;
in this embodiment, the frequencies of the two oppositely transmitted light waves output by the first optical output end and the second optical output end of the optical fiber beam splitter 3 are different, so as to avoid the interference between the two oppositely transmitted light waves;
in this embodiment, the first optical output end and the second optical output end of the optical fiber beam splitter 3 respectively output two oppositely transmitted light waves, the spectrometer 10 processes the resonance spectrum of the two received light waves and converts the resonance spectrum into an electrical signal, and the signal processing and output system 11 processes the electrical signal into a difference value of resonance frequencies of the two light waves, and then outputs a signal including the rotation speed and the rotation direction of the optical fiber gyroscope.
The signal processing and output system 11 comprises a band-pass filter circuit 11-1, an amplifying circuit 11-2 and an extraction output circuit 11-3; the electric signal output end of the spectrometer 10 is connected with the electric signal input end of the band-pass filter circuit 11-1, the electric signal output end of the band-pass filter circuit 11-1 is connected with the electric signal input end of the amplifier circuit 11-2, the electric signal output end of the amplifier circuit 11-2 is connected with the electric signal input end of the extraction output circuit 11-3, and the electric signal output end of the extraction output circuit 11-3 outputs a gyro output signal.
The working principle of the embodiment is as follows: the optical fiber coupler 6 and the optical fiber ring 7 form an optical fiber ring resonator, two oppositely transmitted light waves exist in the optical fiber ring resonator, and as shown in fig. 1, the two light waves are transmitted in a clockwise direction and a counterclockwise direction respectively; the light source 1 is a broadband light source, the output light of the light source 1 enters the polarization controller 2, the polarization controller 2 selects the polarization state of the light, and the output light of the polarization controller 2 is divided into two light waves after passing through the optical fiber beam splitter 3;
the output light of the polarization controller 2 is split into two light waves through the optical fiber beam splitter 3, the first light wave enters the first optical fiber grating 4, since the first optical fiber grating 4 is a narrow-band transmission type optical fiber grating, the light source 1 is a broadband light source, and the spectral range of the light source 1 includes the transmission center frequency of the first optical fiber grating 4, for example, the transmission center frequency of the first optical fiber grating 4 is represented by v1, thus, the first optical fiber grating 4 outputs a narrow-band light wave with the center frequency of v1, since the transmission center frequency of the first optical fiber grating 4 is the same as the working frequency of the light input end of the first wavelength division multiplexer 5, thus, the narrow-band light wave with the center frequency of v1 output by the first optical fiber grating 4 enters the optical fiber ring resonator through the first wavelength division multiplexer 5, is transmitted counterclockwise in the optical fiber ring resonator and resonates, the narrow-band light wave with the center frequency of v1 resonates in the optical fiber ring resonator, the resonance spectrum of the optical fiber is output by the optical fiber coupler 6 and enters the second wavelength division multiplexer 8, and as the transmission center frequency of the first fiber bragg grating 4 is the same as the working frequency of the optical output end of the second wavelength division multiplexer 8, the resonance spectrum of the narrow-band optical wave with the center frequency of v1 is output by the second wavelength division multiplexer 8 and enters the spectrometer 10;
the output light of the polarization controller 2 is split into two light waves through the optical fiber beam splitter 3, the second light wave enters the second fiber grating 9, since the second fiber grating 9 is a narrow-band transmission type fiber grating, the light source 1 is a broadband light source, and the spectral range of the light source 1 includes the transmission center frequency of the second fiber grating 9, for example, the transmission center frequency of the second fiber grating 9 is represented by v2, thus, the second fiber grating 9 outputs a narrow-band light wave with the center frequency of v2, since the transmission center frequency of the second fiber grating 9 is the same as the working frequency of the light input end of the second wavelength division multiplexer 8, thus, the narrow-band light wave with the center frequency of v2 output by the second fiber grating 9 enters the fiber ring resonator through the second wavelength division multiplexer 8, is transmitted clockwise in the fiber ring resonator and resonates, after the narrow-band light wave with the center frequency of v2 resonates in the fiber ring resonator, the resonance spectrum of the optical fiber is output by the optical fiber coupler 6 and enters the first wavelength division multiplexer 5, and as the transmission center frequency of the second fiber bragg grating 9 is the same as the working frequency of the optical output end of the first wavelength division multiplexer 5, the resonance spectrum of the narrow-band optical wave with the center frequency of v2 is output by the first wavelength division multiplexer 5 and enters the spectrometer 10;
the narrow-band optical wave with the center frequency v1 is transmitted counterclockwise in the optical fiber ring resonator and resonates, the resonant frequency of the narrow-band optical wave changes with the rotation speed, when the rotation speed direction is clockwise, the resonant frequency of the narrow-band optical wave with the center frequency v1 moves to the high frequency direction, when the rotation speed direction is counterclockwise, the resonant frequency of the narrow-band optical wave with the center frequency v1 moves to the low frequency direction, and the larger the rotation speed is, the larger the offset of the resonant frequency of the narrow-band optical wave with the center frequency v1 is;
the narrow-band optical wave with the center frequency v2 is transmitted clockwise in the optical fiber ring resonator and resonates, the resonant frequency of the narrow-band optical wave changes with the rotating speed, when the rotating speed direction is clockwise, the resonant frequency of the narrow-band optical wave with the center frequency v2 moves towards the low frequency direction, when the rotating speed direction is anticlockwise, the resonant frequency of the narrow-band optical wave with the center frequency v2 moves towards the high frequency direction, and the larger the rotating speed is, the larger the offset of the resonant frequency of the narrow-band optical wave with the center frequency v2 is;
if v1 is greater than v2, when the rotation speed direction is clockwise, the resonance frequency of the narrow-band optical wave with the center frequency of v1 moves towards the high-frequency direction, and the resonance frequency of the narrow-band optical wave with the center frequency of v2 moves towards the low-frequency direction, so that the difference of the resonance frequencies between the narrow-band optical wave with the center frequency of v1 and the narrow-band optical wave with the center frequency of v2 increases with the increase of the rotation speed; when the rotation speed direction is anticlockwise, the resonance frequency of the narrow-band optical wave with the center frequency v1 moves towards a low frequency direction, and the resonance frequency of the narrow-band optical wave with the center frequency v2 moves towards a high frequency direction, so that the difference of the resonance frequencies between the narrow-band optical wave with the center frequency v1 and the narrow-band optical wave with the center frequency v2 is reduced along with the increase of the rotation speed;
if v1 is smaller than v2, when the rotation speed direction is clockwise, the resonance frequency of the narrow-band optical wave with the center frequency of v1 moves towards the high-frequency direction, and the resonance frequency of the narrow-band optical wave with the center frequency of v2 moves towards the low-frequency direction, so that the difference of the resonance frequencies between the narrow-band optical wave with the center frequency of v1 and the narrow-band optical wave with the center frequency of v2 is reduced along with the increase of the rotation speed; when the rotation speed direction is anticlockwise, the resonance frequency of the narrow-band optical wave with the center frequency v1 moves towards a low frequency direction, and the resonance frequency of the narrow-band optical wave with the center frequency v2 moves towards a high frequency direction, so that the difference of the resonance frequencies between the narrow-band optical wave with the center frequency v1 and the narrow-band optical wave with the center frequency v2 increases along with the increase of the rotation speed;
therefore, the magnitude and direction of the rotation speed can be obtained simultaneously according to the difference of the resonance frequency between the narrow-band optical wave with the center frequency v1 and the narrow-band optical wave with the center frequency v 2;
the spectrometer 10 receives the resonance spectrum of the narrowband optical wave with the center frequency v1 and the resonance spectrum of the narrowband optical wave with the center frequency v2, converts the resonance spectrums of the narrowband optical wave with the center frequency v1 and the narrowband optical wave with the center frequency v2 into electric signals, and sends the electric signals to the signal processing and output system 11, the signal processing and output system 11 respectively obtains the resonance frequency of the narrowband optical wave with the center frequency v1 and the resonance frequency of the narrowband optical wave with the center frequency v2, and obtains the magnitude and the direction of the rotation speed from the difference value of the resonance frequency between the narrowband optical wave with the center frequency v1 and the narrowband optical wave with the center frequency v2, and finally, the signal processing and output system 11 outputs a gyro output signal, wherein the gyro output signal comprises the magnitude and the direction of the rotation speed.
The working principle of the signal processing and output system 11 is as follows: the spectrometer 10 receives the resonance spectrum of the narrowband optical wave with the center frequency of v1 and the resonance spectrum of the narrowband optical wave with the center frequency of v2, converts the resonance spectrums of the narrowband optical wave with the center frequency of v1 into electric signals, sends the electric signals into the band-pass filter circuit 11-1, the band-pass filter circuit 11-1 carries out band-pass filtering on the electric signals of the resonance spectrums, sends the electric signals into the amplifier circuit 11-2, the amplifier circuit 11-2 amplifies the electric signals of the resonance spectrums, sends the electric signals into the extraction output circuit 11-3, the extraction output circuit 11-3 obtains the resonance frequency of the narrowband optical wave with the center frequency of v1 and the resonance frequency of the narrowband optical wave with the center frequency of v2 respectively, obtains the magnitude and the direction of the rotation speed simultaneously according to the difference value between the narrowband optical wave with the center frequency of v1 and the narrowband optical wave with the center frequency of v2, and finally, the extraction output circuit 11-3 outputs a gyro output signal, the gyro output signal includes the magnitude and direction of the rotation speed.
Claims (2)
1. The utility model provides a dual-working frequency fiber optic gyroscope, including light source (1), polarization controller (2), fiber splitter (3), first fiber grating (4), first wavelength division multiplexer (5), fiber coupler (6), optic fibre ring (7), second wavelength division multiplexer (8), second fiber grating (9), spectrum appearance (10), signal processing and output system (11), polarization controller's (2) light input end is connected to the light output of light source (1), the light input end of fiber splitter (3) is connected to the light output of polarization controller (2), the signal processing and output system's (11) electric signal input end is connected to the electric signal output of spectrum appearance (10), its characterized in that: the first optical output end of the optical fiber beam splitter (3) is connected with the optical input end of the first optical fiber grating (4), the optical output end of the first optical fiber grating (4) is connected with the optical input end of the first wavelength division multiplexer (5), the optical input and output end of the first wavelength division multiplexer (5) is connected with the first optical input and output end of the optical fiber coupler (6), the optical output end of the first wavelength division multiplexer (5) is connected with the first optical input end of the spectrometer (10), the second optical input and output end of the optical fiber coupler (6) is connected with the first optical input and output end of the optical fiber ring (7), and the third optical input and output end of the optical fiber coupler (6) is connected with the second optical input and output end of the optical fiber ring (7); the optical fiber coupler (6) and the optical fiber ring (7) form an optical fiber ring resonant cavity, and two oppositely transmitted light waves exist in the optical fiber ring resonant cavity; a second light output end of the optical fiber beam splitter (3) is connected with a light input end of a second optical fiber grating (9), a light output end of the second optical fiber grating (9) is connected with a light input end of a second wavelength division multiplexer (8), a light input and output end of the second wavelength division multiplexer (8) is connected with a fourth light input and output end of the optical fiber coupler (6), and a light output end of the second wavelength division multiplexer (8) is connected with a second light input end of a spectrometer (10); the transmission center frequency of the first fiber grating (4) is different from that of the second fiber grating (9); the first fiber grating (4) and the second fiber grating (9) are both narrow-band transmission fiber gratings; the light source (1) is a broadband light source, and the spectral range of the light source comprises the transmission center frequency of the first fiber grating (4) and the transmission center frequency of the second fiber grating (9); the transmission center frequency of the first fiber bragg grating (4), the working frequency of the light input end of the first wavelength division multiplexer (5) and the working frequency of the light output end of the second wavelength division multiplexer (8) are the same in frequency; the transmission center frequency of the second fiber bragg grating (9), the working frequency of the light input end of the second wavelength division multiplexer (8) and the working frequency of the light output end of the first wavelength division multiplexer (5) are the same in frequency; the first light output end and the second light output end of the optical fiber beam splitter (3) respectively output two light waves which are transmitted in opposite directions, the frequencies of the two light waves are different, the spectrometer (10) processes the resonance spectrums of the two received light waves and converts the resonance spectrums into electric signals, the difference value of the resonance frequencies of the two light waves is processed by a signal processing and output system (11), and then the signals are output, including the rotation speed and the direction of the optical fiber gyroscope.
2. A dual-operation frequency fiber optic gyroscope according to claim 1 and further comprising: the signal processing and output system (11) comprises a band-pass filter circuit (11-1), an amplifying circuit (11-2) and an extraction output circuit (11-3); the electric signal output end of the spectrometer (10) is connected with the electric signal input end of the band-pass filter circuit (11-1), the electric signal output end of the band-pass filter circuit (11-1) is connected with the electric signal input end of the amplifying circuit (11-2), the electric signal output end of the amplifying circuit (11-2) is connected with the electric signal input end of the extraction output circuit (11-3), and the electric signal output end of the extraction output circuit (11-3) outputs a gyro output signal.
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