CN101482413B - Method for improving scale factor nonlinearity of optic fiber gyroscope at low angular rate - Google Patents
Method for improving scale factor nonlinearity of optic fiber gyroscope at low angular rate Download PDFInfo
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Abstract
The invention relates to a method for improve the scale factor non-linear of the optical fiber gyro at low angle speed, which comprises: storing the least significant bit of the captured data in A/D converter and combining into a binary number; setting the linear feedback shift register in the FPGA; generating pseudo random code sequence by the register for preventing the periodic electronic cross fire error caused by resetting; and further controlling the light source driving current according to the input angle speed. When the optical fiber gyro input angle speed is smaller, inputting a larger driving current into the light source to increase the power of the light reaching the detector, enhance the Sagnac phase difference signal, thereby improve the scale factor non-linear of the optical fiber gyro at low angle speed; When the optical fiber gyro input angle speed is larger, inputting a smaller driving current into the light source to reduce the circuit heating value and power consumption, increase the electromagnetic compatibility of the gyro signal processing circuit and inhibit the gyro drift caused by temperature.
Description
Technical field
The present invention relates to a kind of optic fiber gyroscope graduation factor non-linear method that improves, relate in particular to a kind of constant multiplier non-linear method under the interference type optical fiber gyroscope low angular rate that improves, thereby by adopting the pseudorandom modulation sequence and according to input angle speed size light source light power being controlled that to improve under the optical fibre gyro low angular rate constant multiplier non-linear.
Background technology
Optical fibre gyro has advantages such as volume is little, in light weight, startup is fast, reliability is high, the life-span is long, and is widely used in the systems such as navigation, control.Interference type optical fiber gyroscope is based on a kind of angular-rate sensor of Sagnac effect, and its formation comprises as shown in Figure 1: light source 1, coupling mechanism 2, multi-functional integrated optical device 3, fiber optic loop 4, detector 5, light source driving circuit 11, light source temperature control circuit 6, A/D converter 8, FPGA9, D/A converter 10 etc.Behind the light wave process coupling mechanism 2 and multi-functional integrated optical device 3 that light source 1 sends, be divided into the light that two bundles are propagated in opposite directions, when the sensitive axes direction of fiber optic loop 4 has the angular velocity input, between two-beam, produce the Sagnac phase differential, and interfere, be converted to electric signal and just can obtain corresponding input angular velocity by detector through handling.
At present, optical fibre gyro generally adopts the fixed modulation waveform that the multi-functional integrated optical device is modulated, but because the existence of 2 ∏ reset signals, can periodically produce two kinds of mode of operation: A and B, the A mode of operation is that amplitude is the square wave of ∏/2, and the B mode of operation is that amplitude is the square wave of 3 ∏/2, and the ratio that two kinds of mode of operations are held time is 3: 1, as shown in Figure 2, and two kinds of mode of operations demodulating error of being coupled to detector be respectively: Ba and Bb.Under the low situation of input angle speed, the demodulating error under two kinds of patterns is De+Ba respectively, De+Bb, and both symbols may be different.The oblique wave of reset signal begins at Mode A, has a positive slope, because De+Ba＞0.When oblique wave arrive (on) when overflowing the limit, be transformed into Mode B, this moment, control system triggered a negative ramp slopes, because De+Bb＜0 is arranged now.Ramp slopes reindexing is left and is overflowed the zone like this, comes back to Mode A, occurs the positive ramp slopes relevant with Mode A again, up to switching to Mode B once more.So, control system remains on " capturing " state, and gyroscope is in the lock state, and is output as zero, promptly so-called " dead band " phenomenon.Even not in dead zone range, but when input angle speed hour because signal is fainter, the influence that is subjected to the cross talk of electrons error also can be compared seriously, has influenced the linearity performance of constant multiplier.In addition, when input angular velocity hour, the interference signal that arrives detector is fainter, signal to noise ratio (S/N ratio) is less, therefore, easily by noise, the precision that causes optical fibre gyro to be measured reduces.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of constant multiplier non-linear method under the optical fibre gyro low angular rate that improves is proposed, this method is by using the modulation sequence of random variation, prevent the phenomenon of reset locking, simultaneously by control to the light source injection current, improve the signal to noise ratio (S/N ratio) under the little angular speed, thereby it is non-linear to improve under the little angular speed optic fiber gyroscope graduation factor.
Technical solution of the present invention is: a kind ofly improve constant multiplier non-linear method under the optical fibre gyro low angular rate, may further comprise the steps:
(1) produces pseudorandom M sequence by the register among the FPGA;
(2) output state of the pseudorandom M sequence that step (1) is produced is estimated, when time that the output state of pseudorandom M sequence remains unchanged during less than the setting-up time value, pseudorandom M sequence is not operated; When time that the output state of pseudorandom M sequence remains unchanged during greater than the setting-up time value, last position of A/D converter sampling numerical value in the optical fibre gyro is stored, form a binary number, the register that generates pseudorandom M sequence is carried out assignment by this binary number;
(3) produce the Stochastic Modulation waveform by the pseudorandom M sequence of handling through step (2), through D/A converter the Stochastic Modulation waveform is applied to the integrated optics chip drive end then and finishes modulation lightwave signal in the gyro;
(4) by FPGA the modulation condition of lightwave signal is carried out demodulation, obtain optical fibre gyro responsive angle rate signal ω;
(5) the responsive angle rate signal ω of optical fibre gyro that step (4) is obtained carries out interpretation, when optical fibre gyro input angle speed ω is big, reduces the Output optical power of light source by the gain that reduces drive current; When optical fibre gyro input angle speed hour, increase the Output optical power of light source by the gain that improves drive current.
Pseudorandom M sequence in the described step (1) is generated by linear feedback shift register, and the length of this sequence is (2
p-1), p is for selecting the number of registers in the FPGA.
Modulation waveform in the described step (3) is a square wave, and holding time of each state is that the transit time of fiber optic loop in the optical fibre gyro, the amplitude of square wave are ∏/2 or 3 ∏/2.
Principle of work of the present invention is: interference signal is through being converted to voltage signal after the detector, again through becoming digital signal after the A/D converter, finish the output that digital demodulation, digital integration and digital filtering obtain gyro in fpga logic circuit inside, and the further integration of the output of gyro produced digital staircase waveform, after numeral staircase waveform and Stochastic Modulation digital signal are superimposed, be applied on the multi-functional integrated optical device by D/A converter, introduce the Sagnac phase shift that bias modulation and compensation cause because of input, thereby realize complete-digital closed-loop control; The fpga logic circuit judges in real time to output valve, and this value hour drives variable gain circuit to light source and sends instruction, increases its gain, makes the injection current of light source increase; When output valve is big, light source is driven variable gain circuit send instruction, reduce its gain, make the injection current of light source reduce.
The present invention's advantage compared with prior art is:
(1) the present invention can be provided with the linear feedback shift register that produces random series according to the lowest order of AD image data, relatively obtain random series, realize easily in the engineering, adopt the modulated square wave of the random variation of ∏/2 or 3 ∏/2 two kind of different amplitudes, can avoid because the fixed modulation square wave causes the periodicity cross talk of electrons error that causes under reset case, make resetting of staircase waveform can not have the phenomenon of locking, promptly can avoid the generation in dead band;
(2) according to the scope of input angle speed, can regulate the injection current size of light source, under little angular speed, help improving the non-linear of optic fiber gyroscope graduation factor, under bigger angular speed, can reduce the heating of driving circuit and temperature control circuit, help improving the Electro Magnetic Compatibility of signal processing circuit and suppress the circuit drift that temperature causes.
Description of drawings
Fig. 1 is the interference type optical fiber gyroscope structured flowchart;
Fig. 2 is the variation diagram of square-wave frequency modulation under 2 ∏ situations of fixed amplitude;
Fig. 3 is the phase signal of pseudorandom modulation sequence of the present invention and generation thereof;
Fig. 4 generates the structural drawing of pseudorandom M sequence for the present invention;
Fig. 5 generates the autocorrelation function curve of pseudorandom M sequence for the present invention;
Fig. 6 is for adopting the curve map before and after this method, and wherein Fig. 6 (A) is not for adopting the constant multiplier curve map before the present invention, the constant multiplier curve map of Fig. 6 (B) after for employing the present invention.
Among Fig. 4: the 2nd grade of shift register 11-3. (p-1) level of the 1st grade of shift register 11-2. of 11-1. shift register 11-4. p level shift register 12-1. the 1st feedback channel 12-2. the 2nd feedback channel 12-3. (p-2) feedback channel 12-4 (p-1) feedback channel 12-5 p feedback channel
Embodiment
As shown in Figure 1, the optical routing light source 1 of the interference type optical fiber gyroscope that the present invention adopts, coupling mechanism 2, multi-functional integrated optical device 3, fiber optic loop 4, detector 5 constitute, and wherein light source 1 wavelength is 1310nm or 1550nm; The signal processing circuit part comprises A/D converter 8, fpga logic circuit 9, D/A converter 10, light source driving circuit 11, light source driving controllable-gain circuit 7 and light source temperature control circuit 6 at least, and the temperature variation of light source temperature control circuit 6 requirement control light source tube cores can not be above 0.1 ℃.
Figure 3 shows that pseudorandom modulation waveform of the present invention, depth of modulation is ∏/2 or 3 ∏/2, cycle is 2 times of fiber optic loop eigenfrequency, and its variation is the pseudo-random sequence decision that produced by the fpga logic circuit, can avoid the dead band phenomenon that causes because of the fixed modulation waveform by Stochastic Modulation.In the fpga logic circuit, produce a pseudo-random sequence, again according to this pseudo-random sequence, produce the modulation sequence of two kinds of amplitude random variation of ∏/2 and 3 ∏/2, its modulation waveform is a square wave, each state is held time and is T, T is the transit time of fiber optic loop in the optical fibre gyro, the amplitude of square wave is ∏/2 or 3 ∏/2, and the variation between the modulated square wave of ∏/2 or 3 ∏/2 two kind of different amplitudes is at random, this modulation sequence is applied on the light wave that two bundles of multi-functional integrated optical device propagate in opposite directions, the phase differential that the two-beam ripple produces is ± ∏/2 or ± 3 ∏/2, the two states random variation.
Pseudo-random sequence is realized by pseudorandom two-value M sequence, generating mode is for to finish by linear feedback shift register in FPGA, and its initial setting up is to store and be combined into a binary number decision according to the lowest order of A/D converter image data in the optical fibre gyro Digital Logic.This sequence is the scale-of-two pseudo-random code sequence, has the character of approximate white noise, is easy to again on the engineering realize.When the number of register was chosen enough greatly in linear feedback shift register, the autocorrelation function of M sequence was similar to the δ function, had embodied it and had had the character of approximate white noise sequence, had randomness.
Fig. 4 has introduced the production method of M sequence.
If binary sequence x
1x
2* * x
px
i, there is following relationship between each element:
In the formula, i=p+1; Coefficient a
1, a
2A
P-1, a
p Value 0 or 1 is if value 0 represents that the i feedback channel disconnects; If value 1 is represented the connection of i feedback channel.
The nonequivalence operation of expression Digital Logic.
As long as suitably select coefficient a
1, a
2A
pJust can make sequence with (2
p-1) the long period circulation of position.This have the most macrocyclic binary sequence and just be called the M sequence, and the P value is set as required, when P is 64 (2
64-1) length of M sequence is very considerable, and realizes that in FPGA 64 linear feedback shift register is easily.
Among Fig. 4, C
1, C
2..., C
pConstitute p level shift register; Coefficient a
1, a
2A
P-1The selection of decision feedback channel.x
I-1, x
I-2..., x
I-pCarry out feeding back to x after the nonequivalence operation through separately feedback channel
iSuitably select feedback channel, under the effect of shift pulse CP, the output that shift register is arbitrary grade all can be the M sequence.
The original state of the shift registers at different levels of generation M sequence is as if all-zero state, and then producing the output of M sequence will be " 0 " state forever, and this is undesirable.In this patent, the original state setting of M sequence is not only to avoid above-mentioned situation, but has taked to strengthen the measure of M sequence randomness.This measure is that a binary number is stored and be combined into to the lowest order of A/D converter image data in the optical fibre gyro circuit, and the register of M sequence is provided with.The frequent degree of this data setting is relevant with the running status of M sequence.Need increase the progression of register in order to increase the M randomicity of sequences, the adverse effect of bringing is that state time of " 1 " or " 0 " to occur longer time period with certain occurring.Because the running status of M sequence is as can be known, when growing, carry out the randomness that register is reset increases the gyro signal modulation waveform in the state time that runs to lasting " 1 " or " 0 ".
Fig. 5 is the autocorrelation function of M sequence.A cycle period N in P level M sequence
p=(2
p-1) in the bit, the number of times that logical zero occurs is (N
p-1)/2, the number of times of logical one appearance is (N
p+ 1)/2.The number that logical zero occurs is always lacked one than the number that logical one occurs.Work as N
pWhen big, the probability approximately equal that both occur.
For the characteristic of the autocorrelation function of analyzing the M sequence, this sequence is carried out conversion, adopt following formula:
M(i)＝a(1-x
i) (2)
In the formula, x
iBe the M sequential element of getting " 0 " or " 1 ", and M (i) be get a and-sequential element of a.
Because the M sequence is with N
pThe position is the function in cycle, and according to the definition of autocorrelation function, then the autocorrelation function of M sequence can be calculated as follows:
In the formula, M (t) be get a and-sequence of a; Δ t is the shift pulse cycle.(3) discrete form of formula:
When τ=0:
As τ=j Δ t, 1≤j≤N
PDuring-1 integer, can derive following formula:
When-Δ t≤τ≤Δ t, can derive following formula:
As the Δ t of j Δ t≤τ≤(j+1), j ≠ 0, j ≠ N
PDuring-1 integer, expression formula is with (6).
The above analysis, cycle position N
pThe autocorrelation function of the M sequence of Δ t can be summed up as:
R
MAlso be (τ) with N
pΔ t is the even function in cycle.As seen, the autocorrelation function of M sequence (is worked as N
pWhen being tending towards infinite) be similar to the δ function, embody it and had the character of approximate white noise sequence, have randomness.
Specific implementation process of the present invention is: detector output signal is amplified and through being converted to digital signal after the A/D converter, carry out digital demodulation then, again restituted signal is carried out digital integration, promptly can obtain the output valve of optical fibre gyro.Output valve to gyro is judged, according to the size of this value, sends instruction by the fpga logic circuit, and the gain of drive current is controlled.When the output valve of gyro hour, the input angle speed that gyro is described is lower, improve the injection current of light source, improved the intensity of Sagnac phase differential, the error of introducing such as non-linear that has suppressed cross talk of electrons and multi-functional integrated optical device relatively, thus it is non-linear to have improved the constant multiplier of optical fibre gyro under low angular rate; When the output valve of gyro is big, the input angle speed that gyro is described is bigger, the intensity of Sagnac phase signal is bigger, can reduce the gain of drive current this moment, can reduce light source and reduce light source driving circuit and the thermal value of temperature control circuit, help improving the Electro Magnetic Compatibility of circuit and suppress the circuit drift that temperature causes, simultaneously because follow-up stopping direct current signal Processing, make luminous power increase or reduce can not introduce error to the output of optical fibre gyro.
The drive current of light source can be regulated according to the size of angular speed.When optical fibre gyro input angle speed is big,, reduce the Output optical power of light source by the gain of FPGA controlling and driving electric current; When optical fibre gyro input angle speed more as a child, by the gain of FPGA controlling and driving electric current, increase the Output optical power of light source, make the luminous power that arrives detector improve, improve the signal to noise ratio (S/N ratio) of detector output signal.
Fig. 6 is for adopting the curve map of this method front and back, wherein Fig. 6 (A) is not for adopting the constant multiplier curve map before the present invention, Fig. 6 (B) is the constant multiplier curve map behind employing the present invention, after using the present invention as can be seen from the curve of Fig. 6, the constant multiplier of gyro under low angular rate non-linear be improved significantly
The present invention not detailed description is a technology as well known to those skilled in the art.
Claims (3)
1. one kind is improved constant multiplier non-linear method under the optical fibre gyro low angular rate, it is characterized in that: may further comprise the steps:
(1) produces pseudorandom M sequence by the register among the FPGA;
(2) output state of the pseudorandom M sequence that step (1) is produced is estimated, when time that the output state of pseudorandom M sequence remains unchanged during less than the setting-up time value, pseudorandom M sequence is not operated; When time that the output state of pseudorandom M sequence remains unchanged during greater than the setting-up time value, the lowest order of A/D converter sampling numerical value in the optical fibre gyro is stored, form a binary number, the register that generates pseudorandom M sequence is carried out assignment by this binary number;
(3) produce the Stochastic Modulation waveform by the pseudorandom M sequence of handling through step (2), through D/A converter the Stochastic Modulation waveform is applied to the integrated optics chip drive end then and finishes modulation lightwave signal in the gyro;
(4) by FPGA the modulation condition of lightwave signal is carried out demodulation, obtain optical fibre gyro responsive angle rate signal ω;
(5) the responsive angle rate signal ω of optical fibre gyro that step (4) is obtained carries out interpretation, when the responsive angle rate signal ω of optical fibre gyro is big, reduces the Output optical power of light source by the gain that reduces drive current; When the responsive angle rate signal of optical fibre gyro hour, increase the Output optical power of light source by the gain that improves drive current.
2. a kind of constant multiplier non-linear method under the optical fibre gyro low angular rate that improves according to claim 1, its feature exists: the pseudorandom M sequence in the described step (1) is generated by linear feedback shift register, and the length of this sequence is (2
p-1), p is a number of registers in the FPGA.
3. a kind of constant multiplier non-linear method under the optical fibre gyro low angular rate that improves according to claim 1, its feature exists: the modulation waveform in the described step (3) is a square wave, holding time of each square wave is that the transit time of fiber optic loop in the optical fibre gyro, the amplitude of square wave are pi/2 or 3 pi/2s.
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Families Citing this family (9)
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| CN102135420B (en) * | 2010-12-10 | 2013-06-12 | 浙江大学 | Method for improving angular displacement measurement accuracy of optical fiber gyroscope |
| CN104950169B (en) * | 2015-06-19 | 2017-08-15 | 浙江大学 | A kind of method of testing and system of high speed fibre gyro frequency characteristic |
| CN108204824B (en) * | 2016-12-19 | 2021-01-05 | 湖南航天机电设备与特种材料研究所 | Photoelectric detector detection device and detection method |
| CN108318020B (en) * | 2017-12-15 | 2021-12-03 | 中国航空工业集团公司西安飞行自动控制研究所 | Resonant mode fiber optic gyroscope resonant frequency tracking system based on pseudorandom signal |
| CN109827560A (en) * | 2018-11-19 | 2019-05-31 | 北京计算机技术及应用研究所 | A kind of system for eliminating optical fibre gyro dead zone |
| CN109855614A (en) * | 2018-12-14 | 2019-06-07 | 北京理工导航控制科技有限公司 | The nonlinear improved method of constant multiplier under a kind of fibre optic gyroscope low angular rate |
| CN110006417B (en) * | 2019-03-15 | 2021-04-20 | 湖北三江航天红峰控制有限公司 | Random four-state modulation method for digital closed-loop fiber-optic gyroscope |
| CN111238463B (en) * | 2020-01-19 | 2021-10-29 | 湖北三江航天红峰控制有限公司 | Modulation method and device based on random sequence digital closed-loop fiber optic gyroscope |
| CN114018234B (en) * | 2021-09-23 | 2023-02-28 | 北京控制工程研究所 | Method for quickly and automatically correcting scale factor of fiber-optic gyroscope |
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