CN116045944B - Single-ring double-sensitive-axis optical fiber gyro - Google Patents
Single-ring double-sensitive-axis optical fiber gyro Download PDFInfo
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- 239000013307 optical fiber Substances 0.000 title abstract description 13
- 239000000835 fiber Substances 0.000 claims abstract description 42
- 230000009977 dual effect Effects 0.000 claims description 8
- 230000035945 sensitivity Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000004804 winding Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005405 multipole Effects 0.000 description 1
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- 230000003068 static effect Effects 0.000 description 1
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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
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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
- G01C19/722—Details of the mechanical construction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention relates to the technical field of fiber optic gyroscopes, in particular to a single-ring double-sensitive-axis fiber optic gyroscope which comprises a light source, a coupler, a Y waveguide, a ring, a detector and a modulation and demodulation circuit, wherein the ring comprises a first arc part and a second arc part, the first arc part and the second arc part are formed by winding the same optical fiber, an axis corresponding to the first arc part during winding is a first sensitive axis, an axis corresponding to the second arc part during winding is a second sensitive axis, and the first sensitive axis and the second sensitive axis have one intersection point. The invention has simple structure, can improve the north-seeking speed, can avoid dead zone problem, and can accurately solve the east and north positions of the fiber-optic gyroscope; in addition, when the single-ring double-sensitive-axis fiber optic gyroscope provided by the technical scheme is used for monitoring earthquakes, the length and the diameter of the ring can be relatively reduced, so that the volume of the fiber optic gyroscope is reduced, and the manufacturing cost can be reduced.
Description
Technical Field
The invention relates to the technical field of fiber optic gyroscopes, in particular to a single-ring double-sensitive-axis fiber optic gyroscope.
Background
Along with the improvement of the manufacturing technology of the fiber-optic gyroscope and the popularization of the application, the fiber-optic gyroscope has higher and higher precision and is gradually applied to the fields of north seeking, earthquake monitoring and the like.
The single-ring fiber optic gyroscope refers to a fiber optic gyroscope with only one ring. At present, the traditional single-ring fiber optic gyroscope has only one sensitive axis, and certain limitations exist in the use process, and the specific steps are as follows:
1. when the high-precision north seeking is carried out on a carrier which is static relative to the earth through a single-ring optical fiber gyroscope, a two-position north seeking method, a four-position north seeking method or a multi-position north seeking method is generally adopted, in the north seeking process, the angle between a sensitive axis of the single-ring optical fiber gyroscope and the geographic north direction is measured in the horizontal plane, then the sensitive axis is rotated by an angle in the horizontal plane, and then whether the sensitive axis faces north to east or north to west is measured, so that the north seeking time is long; in addition, the sensitive axis position of the single-ring fiber optic gyroscope is uncertain in the north seeking process, the single-ring fiber optic gyroscope possibly falls near the east direction, and at the moment, the input sensitive angle of the fiber optic gyroscope is close to zero, so that the dead zone problem often occurs.
2. In high-precision earthquake prediction and other occasions, at least two single-ring fiber gyroscopes which are arranged at different positions and have the sensitive axes facing in the vertical direction are generally needed. Currently, the accuracy of earthquake prediction can be improved only by increasing the loop length of the fiber optic gyroscope, which is the length of the optical fiber used for winding the loop, or increasing the diameter of the loop of the fiber optic gyroscope. If only the above means are adopted, the loop length of each single-loop fiber optic gyroscope is usually tens of kilometers, the loop diameter is tens of centimeters or even tens of meters, and in this case, the fiber optic gyroscope is huge in volume and expensive in cost.
Disclosure of Invention
The present invention is directed to solving at least one of the technical problems existing in the related art. Therefore, the invention provides the single-ring double-sensitive-axis fiber optic gyroscope.
The invention is realized by the following technical scheme: the utility model provides a single-ring double-sensitive-axis fiber optic gyroscope, includes light source, coupler, Y waveguide and the ring that connects gradually, the coupler still is connected with the detector, the detector is connected with modem circuit, modem circuit still connects in Y waveguide, the ring includes first circular arc portion and second circular arc portion, first circular arc portion and second circular arc portion are formed by same optic fibre coiling, and the axis that corresponds when coiling first circular arc portion is first sensitive axis, and the axis that corresponds when coiling second circular arc portion is second sensitive axis, first sensitive axis has and only has an intersection point with the second sensitive axis.
Preferably, the calculation formula for calculating the sensitive angular velocity by the modem circuit is as follows:
wherein ,
is the sensitive angular velocity; />
The area of the area corresponding to the first arc part; />
The area of the area corresponding to the second arc part; />
Inputting an angular velocity for the outside; />
For the first intersection angle->
For the included angle between the rotating speed input shaft and the first sensitive shaft, the rotating speed input shaft is the orthographic projection of the rotating shaft corresponding to the external input angular velocity on the plane where the first sensitive shaft and the second sensitive shaft are located, the positive direction of the rotating speed input shaft refers to the direction of the synthesized vector of the angular velocity component sensed by the first sensitive shaft and the angular velocity component sensed by the second sensitive shaft, if the first sensitive shaft rotates clockwise>
When the rotation speed is coincident with the rotation speed input shaft, the rotation speed is +.>
Positive values; if the first sensitive axis rotates anticlockwise +.>
When the rotation speed is coincident with the rotation speed input shaft, the rotation speed is +.>
Is negative; />
For the second intersection angle->
For the angle between the rotational speed input shaft and the second sensitive shaft, if the second sensitive shaft rotates anticlockwise +.>
When the rotation speed is coincident with the rotation speed input shaft, the rotation speed is +.>
Positive values; if the second sensitive axis rotates clockwise +.>
When the rotation speed is coincident with the rotation speed input shaft, the rotation speed is +.>
Is negative.
Preferably, the first sensitive axis is perpendicular to the second sensitive axis.
Preferably, the first arc portion and the second arc portion are both semicircular, and the diameter corresponding to the first arc portion is the same as the diameter corresponding to the second arc portion.
Preferably, the first sensitive axis and the second sensitive axis are parallel to a horizontal plane.
Preferably, the first sensitive axis is parallel to a horizontal plane and the second sensitive axis is perpendicular to the horizontal plane.
Preferably, the first sensitive axis is oriented north.
The above technical solutions in the embodiments of the present invention have at least one of the following technical effects:
the invention has simple structure, can sense the angular velocity sensitive component from two directions at the same time, does not need to rotate a sensitive shaft in a horizontal plane when seeking north, can reduce time consumption and improve the north seeking speed; when one sensitive shaft falls into a dead zone near the east direction, the other sensitive shaft can still normally sense an angular velocity sensitive component, so that the optical fiber gyroscope can accurately solve the east direction and the north direction positions; in addition, when the single-ring double-sensitive-axis fiber optic gyroscope provided by the technical scheme is used for monitoring earthquakes, two sensitive axes can sense vibration in two directions simultaneously, earthquake signals can be extracted with high sensitivity by superposing two angular velocity sensitive components generated by the two sensitive axes, earthquake magnitude can be accurately monitored, earthquake prediction accuracy is improved by the mode, the loop length and the loop diameter can be relatively reduced, the fiber optic gyroscope is small in size, and accordingly manufacturing cost can be reduced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a block diagram of a single-ring dual-sensitive-axis fiber optic gyroscope provided by the invention.
Fig. 2 is a schematic diagram of a ring structure of the single-ring dual-sensitive-axis fiber optic gyroscope provided by the invention.
In the figure: 1. a light source; 2. a coupler; 3. a Y waveguide; 4. a loop; 401. a first arc portion; 402. a second arc portion; 403. a first sensitive axis; 404. a second sensitive axis; 5. a modulation/demodulation circuit; 6. a detector.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
As shown in fig. 1, the single-ring dual-sensitive-axis fiber optic gyroscope provided by the invention comprises a light source 1, a coupler 2, a Y waveguide 3 and a ring 4 which are sequentially connected, wherein the coupler 2 is also connected with a detector 6, the detector 6 is connected with a modulation and demodulation circuit 5, the modulation and demodulation circuit 5 is also connected with the Y waveguide 3, and as shown in fig. 2, the ring 4 comprises a first arc part 401 and a second arc part 402, and in the embodiment, the first arc part 401 and the second arc part 402 are formed by winding the same fiber through a single-pole winding method. In addition, in order to effectively reduce the temperature shield effect of the ring 4, the first circular arc portion 401 and the second circular arc portion 402 may be wound by a multipole winding method such as quadrupoles or octupoles from the same optical fiber. The axis corresponding to the first arc part 401 is a first sensitive axis 403, the axis corresponding to the second arc part 402 is a second sensitive axis 404, and the first sensitive axis 403 and the second sensitive axis 404 have one and only one intersection point.
The laser emitted by the light source 1 enters the Y waveguide 3 through the coupler 2, the laser is divided into two beams of light through the Y waveguide 3 and then enters the ring 4, the two beams of light are reversely transmitted in the ring 4, the external input angular velocity respectively generates angular velocity sensitive components on the first sensitive axis 403 and the second sensitive axis 404, the two beams of light which are reversely transmitted through the ring 4 carry the angular velocity sensitive components to be overlapped through the Y waveguide 3 to form an interference signal, the interference signal enters the detector 6 through the coupler 2, the detector 6 converts the interference signal into a sensitive voltage signal, the modem circuit 5 generates a negative feedback signal and a sensitive angular velocity signal according to the sensitive voltage signal, the negative feedback signal is applied to the Y waveguide 3 through a digital ladder wave, the optical fiber gyro is enabled to work in a zero position, and the sensitive angular velocity signal is used for outputting the sensitive angular velocity to the outside, wherein the sensitive angular velocity refers to the synthetic vector of the two angular velocity sensitive components sensed by the optical fiber gyro.
Because the ring 4 of the single-ring double-sensitive-axis optical fiber gyro provided by the technical scheme is provided with two sensitive axes, angular velocity sensitive components can be perceived simultaneously from two directions, and the sensitive axes do not need to be rotated in a horizontal plane when north is sought, so that time consumption can be reduced, and the north seeking speed can be improved; when one sensitive shaft falls into a dead zone near the east direction, the other sensitive shaft can still normally sense an angular velocity sensitive component, so that the optical fiber gyroscope can accurately solve the east direction and the north direction positions; in addition, when the single-ring double-sensitive-axis fiber optic gyroscope provided by the technical scheme is used for monitoring earthquakes, two sensitive axes can sense vibration in two directions simultaneously, earthquake signals can be extracted with high sensitivity by superposing two angular velocity sensitive components generated by the two sensitive axes, earthquake magnitude can be accurately monitored, earthquake prediction accuracy is improved by the mode, the length of the annular ring 4 and the diameter of the annular ring 4 can be relatively reduced, the volume of the fiber optic gyroscope is reduced, and accordingly manufacturing cost can be reduced.
The positive direction of the first sensitive axis is the direction that the intersection point of the first sensitive axis and the second sensitive axis points to the second arc part along the first sensitive axis, and the positive direction of the second sensitive axis is the direction that the intersection point of the second sensitive axis and the first sensitive axis points to the first arc part along the second sensitive axis; setting up
The area of the area corresponding to the first arc part; />
The area of the area corresponding to the second arc part; />
Inputting an angular velocity for the outside; setting the rotating speed input shaft as the orthographic projection of the rotating shaft corresponding to the external input angular speed on the plane of the first sensitive shaft and the second sensitive shaft, wherein the positive direction of the rotating speed input shaft refers to the direction of the resultant vector of the angular speed component sensed by the first sensitive shaft and the angular speed component sensed by the second sensitive shaft>
For the first intersection angle->
Is the second intersection angle. Specifically, the first intersection angle->
Is defined as follows: />
For the angle between the rotational speed input shaft and the first sensitive shaft, if the first sensitive shaft rotates clockwise +.>
When the rotation speed is coincident with the rotation speed input shaft, the rotation speed is +.>
Positive values; if the first sensitive axis rotates anticlockwise +.>
When the rotation speed is coincident with the rotation speed input shaft, the rotation speed is +.>
Is negative; second intersection angle->
Is defined as follows: />
For the angle between the rotational speed input shaft and the second sensitive shaft, if the second sensitive shaft rotates anticlockwise +.>
When the rotation speed is coincident with the rotation speed input shaft, the rotation speed is +.>
Positive values; if the second sensitive axis rotates clockwise +.>
When the rotation speed is coincident with the rotation speed input shaft, the rotation speed is +.>
Is negative. The scale factor of the fiber-optic gyroscope is proportional to +.>
The angular velocity sensitive component of the first sensitive axis is proportional to +.>
The angular velocity sensitive component of the second sensitive axis is proportional to +.>
The modem circuit can be known to resolve the sensitive angular velocity +.>
The calculation formula of (2) is as follows:
wherein ,
is the sensitive angular velocity.
The first sensitive axis is perpendicular to the second sensitive axis
Formula (1) can be simplified as:
wherein ,
for normal rotation, the +.>
。
The following result can also be deduced from formula (2): if the single-ring double-sensitive-axis fiber optic gyroscope provided by the technical scheme is equivalent to a single-sensitive-axis gyroscope, the normal rotation angle is caused
The existence of the above can ensure that the dead zone of the fiber-optic gyroscope does not appear in the east direction.
The first arc part and the second arc part are both semi-circular, and the diameter corresponding to the first arc part is the same as the diameter corresponding to the second arc part at the moment
Formula (2) can be simplified as:
convenient for the modulation and demodulation circuit to sensitive angular velocity
And (5) performing a solution.
According to the single-ring dual-sensitive-axis fiber optic gyroscope described above, further, the following two preferred embodiments are provided.
First embodiment: when the fiber optic gyroscope searches north, when one sensitive shaft falls into a dead zone near the east direction, the other sensitive shaft is exactly in the north direction, and is exactly in the most sensitive state of the other sensitive shaft, so that the fiber optic gyroscope can accurately solve the north direction position.
Second embodiment: the first sensitive axis is parallel to the horizontal plane, the second sensitive axis is perpendicular to the horizontal plane, the first sensitive axis is used for sensing the ground longitudinal vibration caused by the earthquake longitudinal wave, and the second sensitive axis is used for sensing the ground transverse vibration caused by the earthquake transverse wave. Specifically, when no earthquake occurs, the angular velocity component felt by the second sensitive axis is the tangential component of the local velocity; when an earthquake occurs, the ground transverse vibration caused by the earthquake transverse wave can enable the angular velocity component sensed by the second sensitive shaft to generate larger fluctuation on the basis of the natural component of the local ground velocity, and at the moment, the second sensitive shaft can sense the ground transverse vibration caused by the earthquake transverse wave to the maximum extent, so that the earthquake prediction precision can be improved.
Further, the first sensitive axis is oriented in the north direction, that is to say, the positive direction of the first sensitive axis is oriented in the north direction, and the working principle is as follows: when no earthquake occurs, the north-sensitive angular velocity component of the first sensitive axis is the north-oriented component of the local ground velocity; when an earthquake occurs, the ground longitudinal vibration caused by the earthquake longitudinal wave can enable the angular velocity component sensed by the first sensitive axis to generate larger fluctuation on the basis of the north component of the local ground velocity, and at the moment, the first sensitive axis can sense the ground longitudinal vibration caused by the earthquake longitudinal wave to the maximum extent, so that the earthquake prediction precision can be further improved.
The working principle of the single-ring double-sensitive-axis fiber-optic gyroscope provided by the invention is that laser emitted by a light source enters a Y waveguide through a coupler, the laser is divided into two beams of light through the Y waveguide and enters a ring, the two beams of light reversely propagate in the ring, the external input angular velocity respectively generates angular velocity sensitive components on a first sensitive axis and a second sensitive axis, the two beams of light reversely propagated through the ring carry the angular velocity sensitive components to form interference signals after being overlapped through the Y waveguide, the interference signals enter a detector through the coupler, the detector converts the interference signals into sensitive voltage signals, a modulation-demodulation circuit generates negative feedback signals and sensitive angular velocity signals according to the sensitive voltage signals, the negative feedback signals are applied to the Y waveguide through digital ladder waves, the fiber-optic gyroscope is enabled to work in a zero position, and the sensitive angular velocity signals are used for outputting sensitive angular velocities to the outside in a closed loop control mode. The invention has simple structure, can sense the angular velocity sensitive component from two directions at the same time, does not need to rotate a sensitive shaft in a horizontal plane when seeking north, can reduce time consumption and improve the north seeking speed; when one sensitive shaft falls into a dead zone near the east direction, the other sensitive shaft can still normally sense an angular velocity sensitive component, so that the optical fiber gyroscope can accurately solve the east direction and the north direction positions; in addition, when the single-ring double-sensitive-axis fiber optic gyroscope provided by the technical scheme is used for monitoring earthquakes, two sensitive axes can sense vibration in two directions simultaneously, earthquake signals can be extracted with high sensitivity by superposing two angular velocity sensitive components generated by the two sensitive axes, earthquake magnitude can be accurately monitored, earthquake prediction accuracy is improved by the mode, the loop length and the loop diameter can be relatively reduced, the fiber optic gyroscope is small in size, and accordingly manufacturing cost can be reduced.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The utility model provides a single-ring double-sensitive-axis fiber optic gyroscope, includes light source, coupler, Y waveguide and the ring that connects gradually, the coupler still is connected with the detector, the detector is connected with modem circuit, modem circuit still connects in Y waveguide, its characterized in that, the ring includes first circular arc portion and second circular arc portion, first circular arc portion and second circular arc portion are formed by same optic fibre coiling, and the axis that corresponds when coiling first circular arc portion is first sensitive axle, and the axis that corresponds when coiling second circular arc portion is second sensitive axle, first sensitive axle has and only has an intersection point with the second sensitive axle.
2. The single-ring dual-sensitive-axis fiber optic gyroscope of claim 1, wherein the calculation formula for calculating the sensitive angular velocity by the modem circuit is as follows:
wherein ,
is the sensitive angular velocity; />
The area of the area corresponding to the first arc part; />
The area of the area corresponding to the second arc part; />
Inputting an angular velocity for the outside; />
For the first intersection angle->
For the included angle between the rotating speed input shaft and the first sensitive shaft, the rotating speed input shaft is the orthographic projection of the rotating shaft corresponding to the external input angular velocity on the plane where the first sensitive shaft and the second sensitive shaft are located, the positive direction of the rotating speed input shaft refers to the direction of the synthesized vector of the angular velocity component sensed by the first sensitive shaft and the angular velocity component sensed by the second sensitive shaft, if the first sensitive shaft rotates clockwise>
When the rotation speed is coincident with the rotation speed input shaft, the rotation speed is +.>
Positive values; if the first sensitive axis rotates anticlockwise +.>
When the rotation speed is coincident with the rotation speed input shaft, the rotation speed is +.>
Is negative; />
For the second intersection angle->
Is the included angle between the rotating speed input shaft and the second sensitive shaftIf the second sensitive axis rotates anticlockwise +.>
When the rotation speed is coincident with the rotation speed input shaft, the rotation speed is +.>
Positive values; if the second sensitive axis rotates clockwise +.>
When the rotation speed is coincident with the rotation speed input shaft, the rotation speed is +.>
Is negative.
3. The single-ring dual-axis fiber optic gyroscope of claim 2, wherein the first axis of sensitivity is perpendicular to the second axis of sensitivity.
4. The single-ring double-sensitive-axis fiber optic gyroscope according to claim 3, wherein the first arc portion and the second arc portion are both semi-circular, and the diameter corresponding to the first arc portion is the same as the diameter corresponding to the second arc portion.
5. The single-ring dual-sensitive-axis fiber optic gyroscope of any of claims 1-4, wherein the first sensitive axis and the second sensitive axis are both parallel to a horizontal plane.
6. The single loop dual sensitive axis fiber optic gyroscope of any of claims 1-4, wherein the first sensitive axis is parallel to a horizontal plane and the second sensitive axis is perpendicular to the horizontal plane.
7. The single-ring dual-sensitive-axis fiber optic gyroscope of claim 6, wherein the first sensitive axis is oriented north.
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