CN109974683B - Impact-resistant interference type optical fiber gyroscope based on double-ring structure and detection method thereof - Google Patents
Impact-resistant interference type optical fiber gyroscope based on double-ring structure and detection method thereof Download PDFInfo
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Abstract
The invention discloses an impact-resistant interference type optical fiber gyroscope based on a double-ring structure and a detection method thereof, wherein two optical fiber gyroscopes are arranged, integral data of the two optical fiber gyroscopes are compared in real time, whether a main optical fiber gyroscope normally works is judged by taking the integral data of a reference optical fiber gyroscope as a reference when a large impact is applied, the detection data of the main optical fiber gyroscope is output when the main optical fiber gyroscope normally works, the detection data of the reference optical fiber gyroscope is output when the main optical fiber gyroscope has a cross-fringe detection problem and works abnormally, the interference type optical fiber gyroscope can still keep normal work under the condition of large impact, after the judgment of the large impact is finished, an integrator of the main optical fiber gyroscope is reset, the reference optical fiber gyroscope is taken as a reference, the main optical fiber gyroscope is pulled back to an initial normal working point, the main optical fiber gyroscope is recovered to be normal, and the detection data of the main optical fiber gyroscope is output, the high-precision interference type fiber optic gyroscope is particularly suitable for a high-precision interference type fiber optic gyroscope, and the shock resistance of the high-precision interference type fiber optic gyroscope can be improved.
Description
Technical Field
The invention relates to the technical field of fiber optic gyroscopes, in particular to an impact-resistant interferometric fiber optic gyroscope based on a dual-ring structure and a detection method thereof.
Background
The interferometric fiber optic gyroscope has been widely applied to the fields of missile guidance, attitude control of space vehicles, aircraft navigation and the like by virtue of the outstanding advantages of all solid state, high sensitivity, large dynamic range, small volume, long service life and the like, and has become a worldwide research hotspot in recent years.
An interferometric fiber optic gyroscope is an angular rate sensitive device, as shown in fig. 1, and mainly includes: a light source 101, a coupler 102, a phase modulator 103, a sensitive fiber loop 104, a detector 105 and a signal processor 106. The working principle of the interference type optical fiber gyroscope is as follows: the light source 101 emits a light beam, the light beam is divided into two beams of light with the same phase and opposite propagation directions after passing through the coupler 102 and the phase modulator 103, if the sensitive optical fiber ring 104 rotates, due to the Sagnac effect, the two beams of light in the forward/reverse directions generate a phase difference after propagating in the sensitive optical fiber ring 104, the light intensity changes after interference occurs in the coupler 102, the detector 105 receives a light signal, converts the light signal into a voltage signal and then sends the voltage signal to the signal processor 106, and the signal processor 106 obtains the angular rate information of the rotation of the sensitive optical fiber ring 104 by demodulating and detecting the light intensity change.
The full digital closed-loop method is the mainstream detection method of the interferometric fiber optic gyroscope, and the output signal of the detector can be expressed as:
where I is the intensity of light reaching the detector, I0Is the maximum light intensity, Δ Φ, reaching the detectormIs the phase difference imposed by the modulating square wave, Δ ΦbIs the offset phase value of the modulated square wave, Δ ΦsIs the phase difference, delta phi, caused by rotation of the sensitive optical fiber ringfIs the phase difference of the closed loop feedback, τ is the transit time, and t is time. From the related derivation of the Sagnac effect:
wherein, Δ ΦsIs Sagnac phase shift caused by the rotation of the sensitive fiber loop, D is the fiber diameter of the sensitive fiber loop, L is the fiber length of the sensitive fiber loop, c is the speed of light in vacuum, λ is the average wavelength, and Ω is the angular rate of rotation of the sensitive fiber loop. FIG. 2 shows a square-wave modulation signal of an interferometric fiber optic gyroscope and an output signal of a corresponding detector, where the square-wave modulation signal represents a change of a phase difference Δ Φ with time t, and the output signal of the detector represents a change of an interference light intensity I with time t, as shown in FIG. 2, when Δ Φ changes with time tsWhen the time is equal to 0, namely 0 to 4 tau time, the output of the detector is a direct current signal with a spike pulse, and when delta phi is usedsWhen the pulse is not equal to 0, namely the time period of 6 tau to 10 tau, the output of the detector is a square wave signal with a spike pulse.
With the continuous expansion of the application of the interferometric fiber gyroscope, the impact of the interferometric fiber gyroscope in a specific environment is up to dozens of G or even dozens of GIn hundreds of G, shock has become one of the non-negligible environmental factors in the application of interferometric fiber optic gyroscopes. Any impact acting on the sensitive optical fiber ring can be decomposed into axial impact and radial impact, and the axial direction and the radial direction are the insensitive direction and the sensitive direction of the interference optical fiber gyroscope respectively. Ideally, in the insensitive direction, the Sagnac phase shift in the sensitive direction is not generated by the axial shock, but in an actual situation, due to the installation error of the shock absorber of the interferometric fiber optic gyroscope, the system assembly error and the like, the axial shock may cause the axial shock to generate some radial components, so as to generate the corresponding Sagnac phase shift in the sensitive direction, and in the sensitive direction, the radial shock may cause the interferometric fiber optic gyroscope to generate a large instantaneous angular rate in one feedback period, and the instantaneous angular rate may be superimposed with the normal sensitive angular rate to generate the Sagnac phase shift to enter the closed-loop detection circuit. Under the normal working state of the interference type optical fiber gyroscope, Sagnac phase shift caused in a closed loop period when transient impact meets-pi < delta phisWhen the amplitude is less than pi, the interference type optical fiber gyroscope can complete closed-loop detection and close the working point to the original working point according to the principle of digital closed-loop, and the subsequent work of the interference type optical fiber gyroscope cannot be influenced; but the Sagnac phase shift caused when the transient impulse is in a closed loop period satisfies Δ ΦsLess than or equal to-pi or delta phisWhen the angular velocity value is larger than or equal to pi, due to the characteristics of cosine interference fringes and the working principle of a closed loop, the interference type optical fiber gyroscope has a cross-fringe detection phenomenon, at the moment, the closed loop of the system is disordered, so that the detection is blindly judged, the working point is closed to a position of 2 pi n (n is +/-1 and +/-2 …), the output angular velocity value is wrong, and the working state cannot be recovered to be normal. In addition, the elasto-optic effect caused by the axial impact can also cause the interference type optical fiber gyroscope to generate additional phase shift, the additional phase shift cannot be distinguished from the phase shift generated by the normal sensitive angular rate, and the normal operation of the interference type optical fiber gyroscope can also be influenced.
With the continuous development of the interferometric fiber optic gyroscopes, the interferometric fiber optic gyroscopes at home and abroad have broken through the precision level (zero offset stability) of 1 per thousand degrees/h, and have entered the development and application stages of high-precision interferometric fiber optic gyroscopes worldwide. The technical breakthrough in the aspect of the precision of the interference type optical fiber gyroscope basically meets the high-precision requirement of an optical fiber inertial navigation system, and lays a solid foundation for the development of the high-precision optical fiber inertial navigation system. With the continuous development of the interferometric optical fiber gyroscope, the application scene of the high-precision interferometric optical fiber gyroscope is continuously expanded, and vibration and impact also become one of the important assessment indexes of the high-precision interferometric optical fiber gyroscope. In the development and application process of the high-precision interference type optical fiber gyroscope, the cross-fringe fault caused under the conditions of large impact and large-range vibration still cannot be overcome, and the development and application of the high-precision interference type optical fiber gyroscope in actual combat scenes such as missiles, ships and warships and the like are severely restricted.
Disclosure of Invention
In view of this, the embodiment of the invention provides an impact-resistant interferometric optical fiber gyroscope based on a dual-ring structure and a detection method thereof, so as to improve the impact resistance of the high-precision interferometric optical fiber gyroscope.
Therefore, an embodiment of the present invention provides an impact-resistant interferometric optical fiber gyroscope based on a dual-ring structure, including: the device comprises a light source, a first coupler, a main fiber-optic gyroscope, a reference fiber-optic gyroscope and a signal processor; wherein the content of the first and second substances,
the first coupler is respectively connected with the light source, the main fiber-optic gyroscope and the reference fiber-optic gyroscope and is used for receiving light emitted by the light source and dividing the received light into two beams which are respectively transmitted to the main fiber-optic gyroscope and the reference fiber-optic gyroscope;
the signal processor is respectively connected with the main fiber-optic gyroscope and the reference fiber-optic gyroscope and is used for carrying out signal synchronization processing on the main fiber-optic gyroscope and the reference fiber-optic gyroscope before detection and comparing the integral data of the main fiber-optic gyroscope and the integral data of the reference fiber-optic gyroscope in real time; judging whether the main fiber-optic gyroscope works normally or not by taking the integral data of the reference fiber-optic gyroscope as reference; if yes, outputting the detection data of the main fiber-optic gyroscope; if not, outputting the detection data of the reference fiber-optic gyroscope, clearing the integrator of the main fiber-optic gyroscope after the impact is finished, taking the reference fiber-optic gyroscope as a reference, pulling the main fiber-optic gyroscope back to an initial normal working point, and outputting the detection data of the main fiber-optic gyroscope.
In a possible implementation manner, in the interferometric optical fiber gyroscope provided in the embodiment of the present invention, the main optical fiber gyroscope includes a second coupler, a first phase modulator, a first detector, and a first sensitive optical fiber ring; the reference fiber-optic gyroscope comprises a third coupler, a second phase modulator, a second detector and a second sensitive fiber-optic ring; wherein the content of the first and second substances,
the second coupler and the third coupler are respectively connected with the first coupler and are used for respectively receiving the two beams of light divided by the first coupler;
the first phase modulator is respectively connected with the second coupler and the first sensitive optical fiber ring and is used for carrying out phase modulation on light entering the first phase modulator; the second phase modulator is respectively connected with the third coupler and the second sensitive optical fiber ring and is used for carrying out phase modulation on light entering the second phase modulator;
the first detector is respectively connected with the second coupler and the signal processor and is used for receiving the optical signal output by the second coupler, converting the received optical signal into a voltage signal and sending the voltage signal to the signal processor; the second detector is respectively connected with the third coupler and the signal processor and is used for receiving the optical signal output by the third coupler, converting the received optical signal into a voltage signal and sending the voltage signal to the signal processor;
the product of the length and the diameter of the first sensitive optical fiber ring is larger than the product of the length and the diameter of the second sensitive optical fiber ring.
In a possible implementation manner, in the above-mentioned interferometric optical fiber gyroscope provided in an embodiment of the present invention, the signal processor includes: the digital signal detection circuit comprises a digital signal processor, and a first analog signal detection circuit and a second analog signal detection circuit which are respectively and electrically connected with the digital signal processor; wherein the content of the first and second substances,
a first input end of the first analog signal detection circuit is electrically connected with the first detector, a first output end and a second input end of the first analog signal detection circuit are electrically connected with the digital signal processor, and a second output end of the first analog signal detection circuit is electrically connected with the first phase modulator;
the first input end of the second analog signal detection circuit is electrically connected with the second detector, the first output end and the second input end of the second analog signal detection circuit are electrically connected with the digital signal processor, and the second output end of the second analog signal detection circuit is electrically connected with the second phase modulator.
In a possible implementation manner, in the interferometric optical fiber gyroscope provided in the embodiment of the present invention, the diameter of the first sensitive optical fiber ring is the same as the diameter of the second sensitive optical fiber ring;
the length of the first sensitive optical fiber ring is greater than the length of the second sensitive optical fiber ring.
In a possible implementation manner, in the above-mentioned interferometric fiber gyroscope provided in the embodiment of the present invention, the second sensitive fiber ring is wrapped outside the first sensitive fiber ring.
In a possible implementation manner, in the above interferometric optical fiber gyroscope provided in the embodiment of the present invention, the length of the first sensitive optical fiber loop is N times the length of the second sensitive optical fiber loop, where N is an integer greater than 1.
In a possible implementation manner, in the above-mentioned interferometric optical fiber gyroscope provided in the embodiment of the present invention, N is an even number.
The embodiment of the invention also provides a detection method of the impact-resistant interferometric optical fiber gyroscope based on the double-ring structure, which comprises the following steps:
s1: carrying out signal synchronization processing on the main fiber-optic gyroscope and the reference fiber-optic gyroscope;
s2: respectively detecting the integral data of the main fiber-optic gyroscope and the integral data of the reference fiber-optic gyroscope, and comparing the integral data of the main fiber-optic gyroscope and the integral data of the reference fiber-optic gyroscope in real time;
s3: judging whether the main fiber-optic gyroscope works normally or not by taking the integral data of the reference fiber-optic gyroscope as reference; if yes, go to step S4; if not, executing the step S5 to the step S10;
s4: outputting the detection data of the main fiber-optic gyroscope;
s5: outputting the detection data of the reference fiber-optic gyroscope;
s6: comparing the integral data of the main fiber-optic gyroscope and the integral data of the reference fiber-optic gyroscope in real time;
s7: judging whether the impact is finished; if yes, executing step S8-step S10; if not, go back to step S6;
s8: clearing an integrator of the main fiber-optic gyroscope;
s9: taking the reference optical fiber gyroscope as a reference, and pulling the main optical fiber gyroscope back to an initial normal working point;
s10: and outputting the detection data of the main fiber-optic gyroscope.
The anti-impact interference optical fiber gyroscope based on the double-ring structure and the detection method thereof provided by the embodiment of the invention have the advantages that the two optical fiber gyroscopes are arranged, the signal processor compares the integral data of the two optical fiber gyroscopes in real time, when the main optical fiber gyroscope is subjected to large impact or large-range vibration, the integral data of the reference optical fiber gyroscope is taken as a reference to judge whether the main optical fiber gyroscope normally works or not, when the main optical fiber gyroscope normally works, the detection data of the main optical fiber gyroscope is output, when the main optical fiber gyroscope has a cross-fringe detection problem and works abnormally, the output mode can be switched to the output mode of the reference optical fiber gyroscope, the detection data of the reference optical fiber gyroscope is output, so that the interference optical fiber gyroscope can still keep a normal working state under the condition of large impact or large-range vibration, and after the judgment of the large impact or large-range vibration is finished, the integrator of the main, the reference fiber-optic gyroscope is used as a reference, the main fiber-optic gyroscope is pulled back to an initial normal working point, so that the main fiber-optic gyroscope is recovered to be normal, the output mode of the main fiber-optic gyroscope can be switched again, and the detection data of the main fiber-optic gyroscope is output, so that the main fiber-optic gyroscope is particularly suitable for a high-precision interference fiber-optic gyroscope, and the impact resistance of the high-precision interference fiber-optic gyroscope can be improved; and the main fiber-optic gyroscope and the reference fiber-optic gyroscope are subjected to signal synchronization processing before detection, and the integral data of the main fiber-optic gyroscope and the reference fiber-optic gyroscope can be compared in real time, so that the instantaneous switching between the main fiber-optic gyroscope and the reference fiber-optic gyroscope can be ensured.
Drawings
FIG. 1 is a schematic structural diagram of a conventional interferometric optical fiber gyroscope;
FIG. 2 is a diagram of a square-wave modulation signal of a conventional interferometric fiber optic gyroscope and a corresponding diagram of an output signal of a detector;
FIG. 3 is a schematic structural diagram of an impact-resistant interferometric optical fiber gyroscope based on a dual-ring structure according to an embodiment of the present invention;
FIG. 4 is a diagram of an optical path of an impact-resistant interferometric optical fiber gyroscope based on a dual-ring structure according to an embodiment of the present invention;
FIG. 5 is a second schematic structural diagram of an impact-resistant interferometric optical fiber gyroscope based on a dual-ring structure according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view along AA in FIG. 5;
fig. 7 is a flowchart of a detection method of an impact-resistant interferometric optical fiber gyroscope based on a dual-ring structure according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only illustrative and are not intended to limit the present application.
An embodiment of the present invention provides an impact-resistant interferometric optical fiber gyroscope based on a dual-ring structure, as shown in fig. 3, including: the device comprises a light source 1, a first coupler 2, a main fiber-optic gyroscope 3, a reference fiber-optic gyroscope 4 and a signal processor 5; wherein the content of the first and second substances,
the first coupler 2 is respectively connected with the light source 1, the main fiber-optic gyroscope 3 and the reference fiber-optic gyroscope 4, and is used for receiving the light emitted by the light source 1, dividing the received light into two beams and respectively transmitting the two beams to the main fiber-optic gyroscope 3 and the reference fiber-optic gyroscope 4;
the signal processor 5 is respectively connected with the main fiber-optic gyroscope 3 and the reference fiber-optic gyroscope 4 and is used for carrying out signal synchronization processing on the main fiber-optic gyroscope 3 and the reference fiber-optic gyroscope 4 before detection and comparing the integral data of the main fiber-optic gyroscope 3 with the integral data of the reference fiber-optic gyroscope 4 in real time; judging whether the main fiber-optic gyroscope 3 works normally or not by taking the integral data of the reference fiber-optic gyroscope 4 as reference; if yes, outputting the detection data of the main fiber-optic gyroscope 3; if not, outputting the detection data of the reference optical fiber gyroscope 4, resetting the integrator of the main optical fiber gyroscope 3 after the impact is finished, taking the reference optical fiber gyroscope 4 as a reference, pulling the main optical fiber gyroscope 3 back to the initial normal working point, and outputting the detection data of the main optical fiber gyroscope 3.
The interference type optical fiber gyroscope provided by the embodiment of the invention is provided with the two optical fiber gyroscopes, the signal processor compares the integral data of the two optical fiber gyroscopes in real time, judges whether the main optical fiber gyroscope normally works or not by taking the integral data of the reference optical fiber gyroscope as a reference when the main optical fiber gyroscope is subjected to large impact or large-range vibration, outputs the detection data of the main optical fiber gyroscope when the main optical fiber gyroscope normally works, can switch to the output mode of the reference optical fiber gyroscope to output the detection data of the reference optical fiber gyroscope when the main optical fiber gyroscope has a cross-fringe detection problem and works abnormally, thus ensuring that the interference type optical fiber gyroscope can still keep a normal working state under the condition of large impact or large-range vibration, and clears the integrator of the main optical fiber gyroscope after the large impact or large-range vibration is judged, takes the reference optical fiber gyroscope as a reference, the main fiber optic gyroscope is pulled back to the initial normal working point, so that the main fiber optic gyroscope is recovered to be normal, the output mode of the main fiber optic gyroscope can be switched again, and the detection data of the main fiber optic gyroscope is output, so that the main fiber optic gyroscope is particularly suitable for a high-precision interference type fiber optic gyroscope, and the impact resistance of the high-precision interference type fiber optic gyroscope can be improved; in addition, the main fiber-optic gyroscope and the reference fiber-optic gyroscope are subjected to signal synchronization processing before detection, and the integral data of the main fiber-optic gyroscope and the reference fiber-optic gyroscope can be compared in real time, so that the instantaneous switching between the main fiber-optic gyroscope and the reference fiber-optic gyroscope can be ensured; the main optical fiber gyro and the reference optical fiber gyro share one light source, and the optical parameters of the main optical fiber gyro and the reference optical fiber gyro can be ensured to be consistent as much as possible, so that the detection data of the main optical fiber gyro and the reference optical fiber gyro can be ensured to be consistent as much as possible, and the normal work of the interference optical fiber gyro can be ensured by outputting the detection data of the reference optical fiber gyro when the main optical fiber gyro works abnormally.
In practical implementation, in the above-mentioned interferometric optical fiber gyroscope provided by the embodiment of the present invention, as shown in fig. 3, the main optical fiber gyroscope 3 may include a second coupler 6, a first phase modulator 7, a first detector 8, and a first sensitive optical fiber ring 9; the reference fiber-optic gyroscope 4 may include a third coupler 10, a second phase modulator 11, a second detector 12, and a second sensitive fiber-optic ring 13; the second coupler 6 and the third coupler 10 are respectively connected to the first coupler 2 and are configured to receive two beams of light split by the first coupler 2, that is, light emitted by the light source 1 passes through the first coupler 2 and is split into two beams of light, the two beams of light enter the second coupler 6 and the third coupler 10 respectively to provide light sources for the main fiber-optic gyroscope 3 and the reference fiber-optic gyroscope 4, and a specific light path diagram can be shown in fig. 4; the first phase modulator 7 is respectively connected with the second coupler 6 and the first sensitive optical fiber ring 9 and is used for carrying out phase modulation on light entering the first phase modulator 7; the second phase modulator 11 is respectively connected with the third coupler 10 and the second sensitive optical fiber ring 13 and is used for performing phase modulation on light entering the second phase modulator 11; the first detector 8 is respectively connected with the second coupler 6 and the signal processor 5, and is used for receiving the optical signal output by the second coupler 6, converting the received optical signal into a voltage signal and sending the voltage signal to the signal processor 5; the second detector 12 is respectively connected to the third coupler 10 and the signal processor 5, and is configured to receive the optical signal output by the third coupler 10, convert the received optical signal into a voltage signal, and send the voltage signal to the signal processor 5; the length-diameter product of the first sensitive fiber loop 9 is greater than the length-diameter product of the second sensitive fiber loop 13.
In particular, assume that the first sensitive fiber loop has a length LAThe diameter of the first sensitive optical fiber ring is DAThe second sensitive optical fiber ring has a length LBThe diameter of the second sensitive optical fiber ring is DBFrom the related derivation of the Sagnac effect:
wherein, Δ ΦSASagnac phase shift, Δ Φ, for rotation of the first sensitive fiber ringSBFor Sagnac phase shift, omega, induced by rotation of the second sensitive fiber ringAIs the angular rate, Ω, of rotation of the first sensitive fiber ringBIs the angular rate of rotation of the second sensitive fiber ring, c is the speed of light in vacuum, and λ is the average wavelength. When [ Delta ] phiSA＝ΔΦSBWhen the temperature of the water is higher than the set temperature,
when the interference type optical fiber gyroscope is impacted or vibrated, the first sensitive optical fiber ring and the second sensitive optical fiber ring rotate to cause the same Sagnac phase shift, if the length L of the first sensitive optical fiber ringAAnd diameter DAIs greater than the length L of the second sensitive fiber loopBAnd diameter DBThe product of (c), then the angular rate Ω of the rotation of the first sensitive optical fiber ringALess than the angular rate Ω of rotation of the second sensitive optical fiber ringBThat is to say, the first sensitive optical fiber ring and the second sensitive optical fiber ring rotate to cause the same Sagnac phase shift, the angular rate required by the first sensitive optical fiber ring is less than the angular rate required by the second sensitive optical fiber ring, that is, the detection dynamic range of the main optical fiber gyro is less than the dynamic detection range of the reference optical fiber gyro, so that when the main optical fiber gyro has a cross-fringe detection problem and works abnormally due to large impact or large-range vibration, the output mode can be switched to the output mode of the reference optical fiber gyro to output the detection data of the reference optical fiber gyro, thus ensuring that the interference optical fiber gyro can still keep a normal working state under the condition of large impact or large-range vibration, after judging that the large impact or large-range vibration is finished, resetting the integrator of the main optical fiber gyro, taking the reference optical fiber gyro as a reference, pulling the main optical fiber gyro back to an initial normal working point, the main fiber-optic gyroscope is recovered to be normal, so that the main fiber-optic gyroscope can be switched toAnd the output mode outputs the detection data of the main fiber-optic gyroscope. Compared with the existing interference type optical fiber gyroscope, the interference type optical fiber gyroscope provided by the embodiment of the invention has the advantages that the detection dynamic range is improved, so that the shock resistance is improved, the interference type optical fiber gyroscope is particularly suitable for a high-precision interference type optical fiber gyroscope, and the shock resistance of the high-precision interference type optical fiber gyroscope can be improved.
It should be noted that, in the interferometric optical fiber gyroscope provided in the embodiment of the present invention, the structures, connection relationships, and uses of the second coupler, the first phase modulator, the first detector, and the first sensitive optical fiber ring in the main optical fiber gyroscope refer to the structures, connection relationships, and uses of the third coupler, the second phase modulator, the second detector, and the second sensitive optical fiber ring in the optical fiber gyroscope, which are similar to the structures, connection relationships, and uses of the coupler, the phase modulator, the detector, and the sensitive optical fiber ring in the existing optical fiber gyroscope, and are not described herein again.
In practical implementation, in the above-mentioned interferometric optical fiber gyroscope according to the embodiment of the present invention, as shown in fig. 3, the signal processor 5 includes: a digital signal processor 14, and a first analog signal detection circuit 15 and a second analog signal detection circuit 16 electrically connected to the digital signal processor 14, respectively; a first input end 15a of the first analog signal detection circuit 15 is electrically connected to the first detector 8, a first output end 15b and a second input end 15c of the first analog signal detection circuit 15 are electrically connected to the digital signal processor 14, and a second output end 15d of the first analog signal detection circuit 15 is electrically connected to the first phase modulator 7; the first input terminal 16a of the second analog signal detection circuit 16 is electrically connected to the second detector 12, the first output terminal 16b and the second input terminal 16c of the second analog signal detection circuit 16 are electrically connected to the digital signal processor 14, and the second output terminal 16d of the second analog signal detection circuit 16 is electrically connected to the second phase modulator 11. That is to say, the main fiber-optic gyroscope and the reference fiber-optic gyroscope are respectively provided with an independent analog signal detection circuit, so that mutual interference between the main fiber-optic gyroscope and the reference fiber-optic gyroscope can be avoided, and the main fiber-optic gyroscope and the reference fiber-optic gyroscope share the same digital signal processor, thereby ensuring the realization of an algorithm.
In practical implementation, in the interferometric optical fiber gyroscope according to the embodiment of the present invention, as shown in fig. 3, the first analog signal detecting circuit 15 may specifically include: a front discharge circuit 17, an analog-to-digital converter 18, a digital-to-analog converter 19, and a waveguide drive circuit 20; an input end 17a of the front discharge circuit 17 (i.e., the first input end 15a of the first analog signal detection circuit 15) is electrically connected to the first detector 8, an output end 17b of the front discharge circuit 17 is electrically connected to an input end 18a of the analog-to-digital converter 18, an output end 18b of the analog-to-digital converter 18 (i.e., the first output end 15b of the first analog signal detection circuit 15) is electrically connected to the digital signal processor 14, an input end 19a of the digital-to-analog converter 19 (i.e., the second input end 15c of the first analog signal detection circuit 15) is electrically connected to the digital signal processor 14, an output end 19b of the digital-to-analog converter 19 is electrically connected to an input end 20a of the waveguide drive circuit 20, and an output end 20b of the waveguide drive circuit 20 (i.e., the second output end 15d of the first analog signal detection circuit 15) is electrically connected to the first. The structure of the second analog signal detecting circuit 16 is the same as that of the first analog signal detecting circuit 15, and is not described herein.
It should be noted that, in the interferometric optical fiber gyroscope provided in the embodiment of the present invention, the structures, connection relationships, and uses of the digital signal processor, the first analog signal detection circuit, and the second analog signal detection circuit in the signal processor are similar to the structures, connection relationships, and uses of the digital signal processor and the analog signal detection circuit in the signal processor in the existing interferometric optical fiber gyroscope, and details are not repeated herein.
In specific implementation, in the interferometric fiber gyroscope provided in the embodiment of the present invention, in order to realize that a product of a length and a diameter of the first sensitive fiber loop is greater than a product of a length and a diameter of the second sensitive fiber loop, the diameter of the first sensitive fiber loop and the diameter of the second sensitive fiber loop may be set to be the same, and the length of the first sensitive fiber loop may be set to be greater than the length of the second sensitive fiber loop; or the length of the first sensitive optical fiber ring and the length of the second sensitive optical fiber ring can be set to be the same, and the diameter of the first sensitive optical fiber ring is set to be larger than that of the second sensitive optical fiber ring; alternatively, the diameter of the first sensitive optical fiber loop may be set to be larger than the diameter of the second sensitive optical fiber loop, and the length of the first sensitive optical fiber loop may be set to be larger than the length of the second sensitive optical fiber loop, which is not limited herein. Of course, other settings may be made on the diameter and the length of the first sensitive optical fiber ring and the diameter and the length of the second sensitive optical fiber ring, and it is only necessary that the product of the length and the diameter of the first sensitive optical fiber ring is greater than the product of the length and the diameter of the second sensitive optical fiber ring, which is not limited herein.
In practical implementation, in the above-mentioned interferometric optical fiber gyroscope provided by the embodiment of the present invention, the first sensitive optical fiber ring and the second sensitive optical fiber ring may be integrated together, and the integrated structure 21 is shown in fig. 5. In order to facilitate the integration of the first sensitive optical fiber ring and the second sensitive optical fiber ring, the diameter of the first sensitive optical fiber ring and the diameter of the second sensitive optical fiber ring may be set to be the same, and the length of the first sensitive optical fiber ring is set to be greater than that of the second sensitive optical fiber ring, so that the second sensitive optical fiber ring may be wrapped outside the first sensitive optical fiber ring. Fig. 6 is a cross-sectional view along direction AA of fig. 5, as shown in fig. 6, a dashed-line inner frame part represents a first sensitive optical fiber ring 9, a dashed-line outer frame part represents a second sensitive optical fiber ring 13, the second sensitive optical fiber ring 13 is wrapped on the outer side of the first sensitive optical fiber ring 9, and blank circles and shaded circles in fig. 6 represent different winding directions of optical fibers.
Preferably, in the interferometric fiber gyroscope according to the embodiment of the present invention, except that the length of the first sensitive fiber loop is different from the length of the second sensitive fiber loop, or the diameter of the first sensitive fiber loop is different from the diameter of the second sensitive fiber loop, other parameters of the first sensitive fiber loop and the second sensitive fiber loop may be set to be the same, for example, the first sensitive fiber loop and the second sensitive fiber loop may use the same fiber type, so that the difference between the first sensitive fiber loop and the second sensitive fiber loop may be reduced as much as possible, and thus the first sensitive fiber loop and the second sensitive fiber loop may have the same environmental adaptability under the influence of external environmental factors.
In specific implementation, in the interferometric optical fiber gyroscope provided in the embodiment of the present invention, taking as an example that the diameter of the first sensitive optical fiber ring is the same as the diameter of the second sensitive optical fiber ring, the length of the first sensitive optical fiber ring is greater than the length of the second sensitive optical fiber ring, and other optical parameters of the first sensitive optical fiber ring and the second sensitive optical fiber ring are the same, the structure shown in fig. 6 is adopted in the integrated manner of the main optical fiber gyroscope and the reference optical fiber gyroscope, and since the algorithm design is implemented in the same digital signal processor, in order to ensure that the outputs of the main optical fiber gyroscope and the reference optical fiber gyroscope are synchronous, the length of the first sensitive optical fiber ring needs to be set to be an integral multiple of the length of the second sensitive optical fiber ring, that is, the length of the first sensitive optical fiber ring is N times the length of the second sensitive optical fiber ring, and N is an integer greater than 1.
In specific implementation, in the interferometric optical fiber gyroscope provided in the embodiment of the present invention, taking as an example that the diameter of the first sensitive optical fiber ring is the same as the diameter of the second sensitive optical fiber ring, the length of the first sensitive optical fiber ring is greater than the length of the second sensitive optical fiber ring, and other optical parameters of the first sensitive optical fiber ring and the second sensitive optical fiber ring are the same, the structure shown in fig. 6 is adopted in the integration manner of the main optical fiber gyroscope and the reference optical fiber gyroscope, in order to avoid co-frequency interference between the main optical fiber gyroscope and the reference optical fiber gyroscope as much as possible, the eigen frequency of the main optical fiber gyroscope should be an even number times of the eigen frequency of the reference optical fiber gyroscope, and the length of the first sensitive optical fiber ring should be an even number times of the length of the second sensitive optical fiber ring, that is, the length of the first sensitive optical fiber ring is N times of the length of the second sensitive optical fiber ring.
Specifically, according to the above analysis, when Δ ΦSA＝ΔΦSBWhen the temperature of the water is higher than the set temperature,due to DA＝DB，
Wherein N is an even number greater than 1, thenThat is, the first sensitive fiber loop and the second sensitive fiber loop rotate to cause the same Sagnac phase shift, the angular rate Ω required for the second sensitive fiber loopBIs the angular rate omega required by the first sensitive fiber loopAThe main optical fiber gyroscope is pulled back to the initial normal working point by taking the reference optical fiber gyroscope as a reference, so that the main optical fiber gyroscope is recovered to be normal, and the main optical fiber gyroscope can be switched to the main optical fiber gyroscope output mode to output the detection data of the main optical fiber gyroscope. Compared with the existing interference type optical fiber gyroscope, the detection dynamic range of the interference type optical fiber gyroscope provided by the embodiment of the invention is improved by N times, and the shock resistance is improved by N times.
The sensitive optical fiber ring of the existing high-precision interferometric optical fiber gyroscope is long in length and large in size, so that the detection dynamic range is low, the sensitive optical fiber ring is more easily influenced by impact or vibration, and under the vibration action, the sensitive optical fiber ring of the high-precision interferometric optical fiber gyroscope can be subjected to larger nonreciprocal phase shift, and especially when the sensitive optical fiber ring is subjected to larger impact, cross-fringe detection of an interference signal is easily caused, so that the output of the optical fiber gyroscope is abnormal.
The above description of the embodiments of the present invention is provided below as a specific exampleThe interferometric optical fiber gyroscope is applied to a high-precision interferometric optical fiber gyroscope for explanation. Diameter D of first sensitive optical fiber ring of main optical fiber gyroscopeA200mm, length L of the first sensitive optical fiber ringA5000m, mean wavelength lambda of 1550nm, and speed of light c in vacuum of 3X 108m/s, the above parameters meet the requirement of high-precision optical fiber gyro, i.e. the main optical fiber gyro is a high-precision optical fiber gyro according to the formula
Let | Δ ΦSAAt pi rad, the angular rate of rotation of the first sensitive fiber ring is | ΩAThe angle rate generated by external impact in a closed loop period is larger than 13.32 °/s, which causes the problem of stripe crossing of the main fiber-optic gyroscope, resulting in that the main fiber-optic gyroscope cannot work normally; diameter D of second sensitive optical fiber ring of reference optical fiber gyroscopeB200mm, length L of the second sensitive optical fiber ringB500m, a light source having an average wavelength lambda of 1550nm and an optical speed c in vacuum of 3X 108m/s, let | Δ ΦSBAt pi rad, the angular velocity of the second sensitive fiber loop is | ΩB133.2 °/s; therefore, under the condition of causing the same Sagnac phase shift, the equivalent additional angular rate caused by the impact required by the reference fiber-optic gyroscope is 10 times of that of the reference fiber-optic gyroscope, namely the impact resistance of the reference fiber-optic gyroscope is 10 times of that of the main fiber-optic gyroscope, therefore, when the equivalent angular rate generated by the external impact in a closed loop period is greater than 13.32 degrees/s and less than 133.2 degrees/s, the main fiber-optic gyroscope cannot normally work, but the reference fiber-optic gyroscope can normally work, at the moment, the detection data of the reference fiber-optic gyroscope is output by instantaneously switching to the reference fiber-optic gyroscope, the normal work of the interference fiber-optic gyroscope can be ensured, and therefore, the impact resistance of the high-precision interference fiber-optic gyroscope is improved.
Based on the same inventive concept, an embodiment of the present invention further provides a detection method for an impact-resistant interferometric fiber gyroscope based on a dual-ring structure, as shown in fig. 7, including the following steps:
s1: carrying out signal synchronization processing on the main fiber-optic gyroscope and the reference fiber-optic gyroscope;
s2: respectively detecting integral data of the main fiber-optic gyroscope and integral data of the reference fiber-optic gyroscope, and comparing the integral data of the main fiber-optic gyroscope and the integral data of the reference fiber-optic gyroscope in real time;
s3: judging whether the main fiber-optic gyroscope works normally or not by taking the integral data of the reference fiber-optic gyroscope as reference; if yes, go to step S4; if not, executing the step S5 to the step S10;
s4: outputting detection data of the main fiber-optic gyroscope;
s5: outputting detection data of a reference fiber-optic gyroscope;
s6: comparing the integral data of the main fiber-optic gyroscope with the integral data of the reference fiber-optic gyroscope in real time;
s7: judging whether the impact is finished; if yes, executing step S8-step S10; if not, go back to step S6;
s8: clearing an integrator of the main fiber-optic gyroscope;
s9: taking the reference optical fiber gyroscope as a reference, and pulling the main optical fiber gyroscope back to an initial normal working point;
s10: and outputting the detection data of the main fiber-optic gyroscope.
According to the detection method provided by the embodiment of the invention, the main fiber-optic gyroscope and the reference fiber-optic gyroscope are subjected to signal synchronous processing before detection, so that the integral data of the main fiber-optic gyroscope and the reference fiber-optic gyroscope can be compared in real time, and the instantaneous switching between the main fiber-optic gyroscope and the reference fiber-optic gyroscope can be ensured; when the interference type optical fiber gyroscope works normally, the main optical fiber gyroscope is switched to a reference optical fiber gyroscope output mode to output the detection data of the reference optical fiber gyroscope, so that the interference type optical fiber gyroscope can still keep a normal working state under the condition of large impact or large-range vibration, after the large impact or large-range vibration is judged, an integrator of the main optical fiber gyroscope is reset, the reference optical fiber gyroscope is taken as a reference to pull the main optical fiber gyroscope back to an initial normal working point, so that the main optical fiber gyroscope can be recovered to be normal, and the output mode of the main optical fiber gyroscope can be switched to again to output the detection data of the main optical fiber gyroscope, the method is particularly suitable for the high-precision interference type optical fiber gyroscope, and can improve the shock resistance of the high-precision interference type optical fiber gyroscope.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (6)
1. An impact-resistant interferometric fiber optic gyroscope based on a dual ring structure, comprising: the device comprises a light source, a first coupler, a main fiber-optic gyroscope, a reference fiber-optic gyroscope and a signal processor; wherein the content of the first and second substances,
the first coupler is respectively connected with the light source, the main fiber-optic gyroscope and the reference fiber-optic gyroscope and is used for receiving light emitted by the light source and dividing the received light into two beams which are respectively transmitted to the main fiber-optic gyroscope and the reference fiber-optic gyroscope;
the signal processor is respectively connected with the main fiber-optic gyroscope and the reference fiber-optic gyroscope and is used for carrying out signal synchronization processing on the main fiber-optic gyroscope and the reference fiber-optic gyroscope before detection and comparing the integral data of the main fiber-optic gyroscope and the integral data of the reference fiber-optic gyroscope in real time; judging whether the main fiber-optic gyroscope works normally or not by taking the integral data of the reference fiber-optic gyroscope as reference; if yes, outputting the detection data of the main fiber-optic gyroscope; if not, outputting the detection data of the reference fiber-optic gyroscope, resetting the integrator of the main fiber-optic gyroscope after the impact is finished, taking the reference fiber-optic gyroscope as a reference, pulling the main fiber-optic gyroscope back to an initial normal working point, and outputting the detection data of the main fiber-optic gyroscope;
the main optical fiber gyroscope comprises a second coupler, a first phase modulator, a first detector and a first sensitive optical fiber ring; the reference fiber-optic gyroscope comprises a third coupler, a second phase modulator, a second detector and a second sensitive fiber-optic ring; wherein the content of the first and second substances,
the second coupler and the third coupler are respectively connected with the first coupler and are used for respectively receiving the two beams of light divided by the first coupler;
the first phase modulator is respectively connected with the second coupler and the first sensitive optical fiber ring and is used for carrying out phase modulation on light entering the first phase modulator; the second phase modulator is respectively connected with the third coupler and the second sensitive optical fiber ring and is used for carrying out phase modulation on light entering the second phase modulator;
the first detector is respectively connected with the second coupler and the signal processor and is used for receiving the optical signal output by the second coupler, converting the received optical signal into a voltage signal and sending the voltage signal to the signal processor; the second detector is respectively connected with the third coupler and the signal processor and is used for receiving the optical signal output by the third coupler, converting the received optical signal into a voltage signal and sending the voltage signal to the signal processor;
the product of the length and the diameter of the first sensitive optical fiber ring is larger than the product of the length and the diameter of the second sensitive optical fiber ring;
the signal processor includes: the digital signal detection circuit comprises a digital signal processor, and a first analog signal detection circuit and a second analog signal detection circuit which are respectively and electrically connected with the digital signal processor; wherein the content of the first and second substances,
a first input end of the first analog signal detection circuit is electrically connected with the first detector, a first output end and a second input end of the first analog signal detection circuit are electrically connected with the digital signal processor, and a second output end of the first analog signal detection circuit is electrically connected with the first phase modulator;
the first input end of the second analog signal detection circuit is electrically connected with the second detector, the first output end and the second input end of the second analog signal detection circuit are electrically connected with the digital signal processor, and the second output end of the second analog signal detection circuit is electrically connected with the second phase modulator.
2. The interferometric fiber optic gyroscope of claim 1, wherein the diameter of the first sensitive fiber loop is the same as the diameter of the second sensitive fiber loop;
the length of the first sensitive optical fiber ring is greater than the length of the second sensitive optical fiber ring.
3. The interferometric fiber optic gyroscope of claim 2, wherein the second sensitive fiber ring is wrapped outside the first sensitive fiber ring.
4. The interferometric fiber optic gyroscope of claim 2, wherein the length of the first sensitive fiber loop is N times the length of the second sensitive fiber loop, N being an integer greater than 1.
5. The interferometric optical fiber gyroscope of claim 4, wherein N is an even number.
6. A method of detecting an interferometric fiber optic gyroscope according to any one of claims 1 to 5, comprising the steps of:
s1: carrying out signal synchronization processing on the main fiber-optic gyroscope and the reference fiber-optic gyroscope;
s2: respectively detecting the integral data of the main fiber-optic gyroscope and the integral data of the reference fiber-optic gyroscope, and comparing the integral data of the main fiber-optic gyroscope and the integral data of the reference fiber-optic gyroscope in real time;
s3: judging whether the main fiber-optic gyroscope works normally or not by taking the integral data of the reference fiber-optic gyroscope as reference; if yes, go to step S4; if not, executing the step S5 to the step S10;
s4: outputting the detection data of the main fiber-optic gyroscope;
s5: outputting the detection data of the reference fiber-optic gyroscope;
s6: comparing the integral data of the main fiber-optic gyroscope and the integral data of the reference fiber-optic gyroscope in real time;
s7: judging whether the impact is finished; if yes, executing step S8-step S10; if not, go back to step S6;
s8: clearing an integrator of the main fiber-optic gyroscope;
s9: taking the reference optical fiber gyroscope as a reference, and pulling the main optical fiber gyroscope back to an initial normal working point;
s10: and outputting the detection data of the main fiber-optic gyroscope.
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| CN112797971B (en) * | 2020-12-11 | 2022-05-27 | 浙江大学 | Differential fiber optic gyroscope based on characteristic of inhibiting temperature drift of double-core fiber |
| CN112781579B (en) * | 2021-01-29 | 2022-03-08 | 湖北三江航天红峰控制有限公司 | Six-axis integrated optical fiber gyroscope light path structure |
| US11815721B2 (en) * | 2021-05-12 | 2023-11-14 | Taiwan Semiconductor Manufacturing Company, Ltd. | Photonic integrated circuit having redundant light path and method of using |
| CN114623919B (en) * | 2022-03-02 | 2023-07-14 | 北京航空航天大学 | Double-parameter measurement type large dynamic acoustic sensor based on Sagnac interferometer |
| CN115855015B (en) * | 2023-02-01 | 2023-05-02 | 中国船舶集团有限公司第七〇七研究所 | Method for solving large-angle impact of fiber optic gyroscope |
| CN116045949B (en) * | 2023-03-31 | 2023-06-27 | 中国船舶集团有限公司第七〇七研究所 | High-precision high-reliability optical fiber gyroscope and working method thereof |
| CN117891176A (en) * | 2024-03-14 | 2024-04-16 | 中国电子科技集团公司第十一研究所 | Gyro stabilizing platform control method and gyro stabilizing platform |
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