CN103033178B - Laser gyroscope offset frequency method based on external cavity feedback - Google Patents
Laser gyroscope offset frequency method based on external cavity feedback Download PDFInfo
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- CN103033178B CN103033178B CN201210350979.6A CN201210350979A CN103033178B CN 103033178 B CN103033178 B CN 103033178B CN 201210350979 A CN201210350979 A CN 201210350979A CN 103033178 B CN103033178 B CN 103033178B
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- catoptron
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Abstract
The invention relates to a laser gyroscope offset frequency method based on external cavity feedback. The method particularly comprises the following steps of: establishing a feedback external cavity outside a laser gyroscope cavity, and reflecting clockwise beams into a laser resonant cavity; and arranging a nonreciprocal optical device in an external cavity light path, so that feedback light waves of clockwise and anticlockwise light waves have phase difference, and frequency offset is established between the clockwise and anticlockwise light waves of the laser gyroscope. A path length modulation part is arranged in the feedback external cavity light path, and the external cavity light path is modulated, so that the frequency offset of the laser gyroscope is modulated, and an effect similar to mechanical dither is obtained. A modulation signal in a laser gyroscope reading device is filtered by employing a filtering technology, so that an angular velocity signal of laser gyroscope measurement is obtained. According to the method, mechanical noise is not generated, and extremely high modulation frequency can be adopted, so that a response speed of the laser gyroscope is increased.
Description
Technical field
The present invention relates to laser gyro, relate in particular to a kind of method making laser gyro produce offset frequency.
Background technology
Laser gyro have dynamic range large, without superiority such as acceleration effect, structure are simple, be the ideal element of inertia system especially strap-down inertial system, be widely used in military and civilian field.The principle of laser gyro is Sagnac (Sagnac) effect, at least runs the light wave propagated in opposite directions for a pair in its optical resonator.When it rotates relative to inertial space around sensitive axes, row wave frequency produces division in opposite directions, forms the beat frequency being proportional to slewing rate, thus can obtain the rotation information of laser gyro relative to inertial space by measuring beat frequency.
Due to the Energy Coupling in resonator cavity in opposite directions between row ripple, there is latch up effect in laser gyro, causes it cannot measure lower rotating speed.The modal method overcoming locking is mechanical shaking offset frequency, and the method mechanical shaking mechanism makes laser gyro ceaselessly with high frequency jitter by a small margin, makes laser gyro constantly fast through lock district, reduces locking to the impact of measuring.But mechanical shaking easily produces interference to other instrument in inertia system, produce mechanicalness noise, influential system precision, adds the difficulty of system.
In principle, there is not the shortcoming of mechanical shaking offset frequency in electromagnetism or optics offset frequency method.Optics offset frequency method has magnetic mirror bias, magneto-optic Zeeman offset frequency, magneto-optic Faraday offset frequency, multimode from offset frequency etc.Magnetic mirror is on mirror, be coated with the film that one deck has magneto-optic effect, and its remarkable shortcoming is that this magneto-optic thin film loss is comparatively large and there is certain nonreciprocal loss.Magneto-optic Zeeman offset frequency utilizes the Zeeman effect of gain media, and the laser gyro of making in this way can reach certain precision, but also has a certain distance apart from the application of general navigation level, and magnetic susceptibility is very large.Faraday offset frequency to magnetic field and temperature very responsive, need to adopt four-frequency differential technology, however, because this laser gyro needs to place farad conditioning chamber in chamber for this reason, not only increase cavity loss, and too harsh requirement is proposed to plated film, tune chamber.More detailed information can with reference to [Chow W W, Banacloche J G, Pedrotti LM et al. The ring laser gyro. Reviews of ModernPhysics, 1985,57 (1): 61-104.; Jiang Yanan. ring laser gyro. Beijing: publishing house of Tsing-Hua University, 1985.]
Feedback is that the part making laser instrument export light reflects again or scattering enters into laserresonator, thus makes laser power or frequency produce the phenomenon of modulation.The a lot of information in external feedback light path are had due to feedback light belt; therefore can utilize feedback to realize the physical quantitys such as displacement, vibration, phase place accurate measurement [reference: Zhang Shulian. laser feedback technology and development. laser and optoelectronics be in progress; 2007,44 (11): 65-76.; Zhang Shulian. cross polarization Principles of Laser [M]. Beijing: publishing house of Tsing-Hua University, 2005.
The present invention proposes a kind ofly to adopt light feedback to provide the method for offset frequency for laser gyro, it does not change the cavity of existing machinery shake laser gyro substantially, do not need to insert transmissive optical element in light path in laser chamber, but the effect similar with mechanical shaking can be provided, thus very perfectly overcome latch-up problem.
Summary of the invention
The present invention is the latch-up problem in order to overcome laser gyro, by light feedback and external cavity modulation, the effect similar with mechanical shaking is provided, but not be used in increase optical element in laser gyro cavity, thus ripe bulk technology can be utilized to obtain better precision.
For realizing the object of the invention, following technical scheme can be taked:
Comprise the laser gyro be made up of at least 3 catoptrons and the feedback exocoel be made up of two-face mirror, by the effect of feedback exocoel, change laser direction to make again to reflex to intra resonant cavity from the laser of laser gyroscope resonant cavity outgoing, nonreciprocal optical devices and the long modulating device of journey is inserted in external cavity optical path, offset frequency is set up in clockwise and counterclockwise row ripple in laser gyro, then ac modulation and control are carried out to external cavity length, realize the alternation shake of offset frequency, laser gyro is exported light again to reflex in resonator cavity, and make clockwise light beam still enter clockwise loop, counterclockwise light beam still enters counterclockwise loop, cause the change of laser gyro inner laser character especially oscillation frequency.
Wherein, by increasing nonreciprocal optical element (as Faraday polarization apparatus) in the light path of resonator cavity outside, making clockwise light beam and counterclockwise light beam produce nonreciprocity, frequency offset can be set up in laser gyro between clockwise and counterclockwise laser.Select suitable non-commutative elements, frequency offset is met the demands, then external cavity path modulated and control, the size of nonreciprocal offset frequency can be changed.Adopt the mode exchanging (or crying alternation, shake) and modulate, the effect identical with Dithered in mechanical shaking laser gyro can be produced.
The realization of this technical scheme is mainly based on following principle:
Clockwise light beam is fed back under clockwise light beam, counterclockwise light beam feed back to the condition of counterclockwise light beam, difference on the frequency [reference: Aronowitz F.Theory and Operation of a Traveling-Wave Laser. New York University, 1969.] will be produced between the clockwise and counterclockwise light wave of laser gyro:
Here c is the light velocity, and L is that laser gyro cavity is long, s
1for the feedback coefficient of clockwise light wave, δ
1and δ
2be respectively the light path that clockwise and counterclockwise light wave is walked at exocoel after the outgoing of laser gyro outgoing mirror, s
2for the feedback coefficient of counterclockwise light wave.For general light path, according to light path principle of reversibility, δ
1≈ δ
2, and s
1≈ s
2, so frequency difference is 0 or close to 0.
By increasing nonreciprocal optical device in external feedback light path (whole feedback light path part might as well be called exocoel), make clockwise light wave increase by one section of light path, counterclockwise light wave reduces by one section of light path, i.e. δ
1≠ δ
2, at this moment Δ f is not 0, is equivalent between clockwise and counterclockwise light wave, establish frequency offset (abbreviation offset frequency).
Make the phase differential of clockwise light wave and counterclockwise light wave be 180 degree, good offset frequency effect can be obtained.At this moment (1) formula can be reduced to:
In formula, δ is δ
1.The phase place that external cavity optical path produces is modulated, has δ=δ
0+ δ
msin (2 π f
mt), wherein δ
0for initial phase, δ
mfor modulation amplitude, f
mfor modulating frequency, t is the time.
Due to exocoel phase-modulation, the beat frequency of the clockwise and counterclockwise light wave of laser gyro can be expressed as:
Here K is the scale factor of laser gyro, and Ω is input angular velocity, and ψ is the phase place of clockwise and counterclockwise light wave, Ω
lfor lock-in threshold.(3) formula and one typically shake laser gyro and output signal closely similar.
Do 1 estimation below.L=0.3m might as well be established, s
1=10
-4, f
m=400Hz, the Dithered peak-to-peak value that it is set up is 200kHz, and the offset frequency amount of shaking laser gyro with existing machinery is suitable.
Exocoel mid-enter the polarization optical element decay that makes clockwise light beam different by rear generation with counterclockwise light beam also can set up offset frequency at clockwise laser with counterclockwise between laser, play similar effect with above-mentioned phase shifting devices.
The present invention adopts external cavity feedback to produce the function identical with the mechanical shaking of mechanical shaking laser gyro, but advantage does not need huge mechanical shaking parts, can reduce system complexity in actual applications, substantially eliminate mechanicalness noise, improves Measurement bandwidth.
Accompanying drawing explanation
Fig. 1 is a kind of implementation of external cavity feedback laser gyro offset frequency,
Fig. 2 is a kind of typical nonreciprocal optical device schematic diagram,
Fig. 3 is a kind of typical enhancement mode external cavity feedback structure,
Fig. 4 is a kind of typical nonreciprocal optical devices of integrated form.
Embodiment
Below in conjunction with accompanying drawing, embodiment is described.
Fig. 1 is the laser gyro offset frequency schematic diagram based on external cavity feedback, the feedback exocoel that it comprises laser gyro 1 and is made up of the 5th catoptron 6, the 6th catoptron 7, the long modulating device of journey 12, nonreciprocal optical devices 8, catoptron II 3 and catoptron IV 5, wherein laser gyro 1 is made up of catoptron I 2, catoptron II 3, catoptron III 4, catoptron IV 5.Changed direction from the laser of catoptron II 3 transmission by the 5th catoptron 6 exocoel and the 6th catoptron 7, again enter into laser gyroscope resonant cavity from catoptron IV 5, in like manner, reenter laser gyroscope resonant cavity from the laser of catoptron IV 5 transmission from catoptron II 3.Due to the effect of external cavity feedback, in laser gyroscope resonant cavity, between clockwise and counterclockwise light wave, add a difference on the frequency
.Usual s
1≈ s
2.The formula of trigonometric function is utilized to obtain:
Suitable nonreciprocal optical device is adopted to make clockwise and counterclockwise external cavity path produce phase differential, i.e. δ
1-δ
2≠ 0.For reaching good offset frequency effect, best δ
1-δ
2=π.
, δ is exactly the light path of light in exocoel except non-reciprocal phase in fact.Modulate with the long modulation device of exocoel journey 12 pairs of external cavity path, obtaining laser gyro beat frequency that is clockwise and counterclockwise light wave is
, realize the effect of Dithered.
In order to make offset frequency accurately deduct in the output signal of laser gyro,
mean value should be 0, this just needs to control external cavity path length, makes δ
1=kL
eXfor 2m π+pi/2 (m is integer), k is light wave number here, L
eXenter from catoptron IV 5 again after laser gyro catoptron II 3 outgoing for clockwise light wave and after catoptron IV 5 outgoing, enter the average light path process in exocoel from catoptron II 3 more counterclockwise.
Optical element in exocoel may produce the effects such as absorption, scattering to laser, and make light beam produce certain loss, therefore the 5th catoptron 6 and the 6th catoptron 7 adopt high reflectivity mirror as far as possible.
Nonreciprocal optical devices 8 can adopt the system shown in Fig. 2.Wherein wave plate I 9 and wave plate II 10 are quarter wave plates, and Faraday polarization apparatus 11 is placed between wave plate I 9 and wave plate II 10.Laser gyro exports light and is approximately linearly polarized light, after placing suitable wave plate I 9, be converted to circularly polarized light, according to physical optics, the fast axle of wave plate becomes with polarization direction ± 45 ° time linearly polarized light can be converted to circularly polarized light.Circularly polarized light increases or reduces by one section of light path after Faraday polarization apparatus, through wave plate II 10 time, be converted to linearly polarized light again, and the fast axle of wave plate II 10 becomes 90 degree with the fast axle of wave plate I 9.Due to Faraday polarization apparatus, to produce size to the left-handed of different directions or right-circularly polarized light identical, the phase shift that direction is contrary, so the light path adopting the Faraday polarization apparatus of optically-active 90 degree that clockwise and counterclockwise light wave can be made to experience is half wavelength, phase differential is 180 degree.
External cavity modulation device 12 can be realized by a piezoelectric ceramic actuator sticky on the 5th catoptron 6 or the 6th catoptron 7, and piezoelectric ceramic actuator makes the 5th catoptron 6 or the 6th catoptron 7 modulate before and after normal direction, and external cavity path can be made to produce modulation.As long as modulation amplitude has 0.1 wavelength, but preferably slightly bigger, recommend employing 1 wavelength.
External cavity modulation device 12 also can adopt electro-optical modulation device to realize, and electrooptic modulator by changing the refractive index of crystal, thus changes the optical path length of equivalence.
It is another kind of implementation shown in Fig. 3.Compared with the implementation shown in Fig. 1, which more effectively can utilize the energy of light, the long modulating device I 24 of catoptron IV 5, catoptron V 20, catoptron VI 21, catoptron VII 22, nonreciprocal optical devices I 23 and journey forms a feedback exocoel, and laser gyro 1 is made up of catoptron I 2, catoptron II 3, catoptron III 4, catoptron IV 5.Because the overwhelming majority of luminous energy circulates in exocoel, thus can be effectively utilized, thus larger offset frequency amount can be realized with 1 Faraday polarization apparatus that angle of rotation is less or non-reciprocal phase delay is less.According to the difference of external cavity loss, strengthen effect and there will be larger difference, if the loss by one path of light in exocoel is in the magnitude of 0.01, strengthen effect and can reach about 100 times, thus larger frequency offset can be realized with less Faraday polarization apparatus, therefore the size of offset frequency amount is not problem.
Figure 4 shows that the nonreciprocal optical devices of a kind of integrated form.31 is Faraday polarization apparatus I, and 27 is anti-reflection film, can reduce the reflection of luminous energy on surface or scattering loss.Wave plate III 28 and wave plate IV29 are set in Faraday polarization apparatus I 31 both ends of the surface, the side outside wave plate III 28 and wave plate IV29 plates anti-reflection film 27.Wave plate III 28 and wave plate IV29 are the quarter wave plate made by plated film, and their quick shaft direction is mutually orthogonal.Its principle of work is, if a branch of linearly polarized light incides on nonreciprocal optical devices from the left side Fig. 4, anti-reflection film makes light wave substantially not decay, the fast axle of quarter wave plate III28 becomes 45 degree with the polarization direction of linearly polarized light, linearly polarized light just becomes circularly polarized light by rear, produce phase shifts Φ through Faraday polarization apparatus again, then circularly polarized light changes again the linearly polarized light identical with incident light polarization direction into after wave plate IV29, by the anti-reflection film outgoing of other end.The nonreciprocal optical devices of this structure can not cause the decay of light substantially, just change the phase place of light, and contrary from the phase shifted symbols of the light of two ends incidence.Adopt this structure of Fig. 4 can improve the stability of nonreciprocal optical devices, more easily regulate, also higher to the control accuracy of phase place.
The output beat frequency of external cavity feedback offset frequency laser gyro can adopt the mode of low-pass filtering by the impact of shake deduction, and this is very ripe in mechanical shaking laser gyro read-out system, and concrete grammar is all known to association area professional.Because the frequency of external cavity modulation can be very high, therefore this laser gyro has response speed faster than mechanical shaking laser gyro.
Claims (6)
1. based on the laser gyroscope offset frequency of external cavity feedback, it is characterized in that, the method is specially:
Comprise the laser gyro be made up of at least 3 catoptrons and the feedback exocoel be made up of two-face mirror, by the effect of feedback exocoel, change laser direction to make again to reflex to intra resonant cavity from the laser of laser gyroscope resonant cavity outgoing, nonreciprocal optical devices and the long modulating device of journey is inserted in external cavity optical path, offset frequency is set up in clockwise and counterclockwise row ripple in laser gyro, then ac modulation and control are carried out to external cavity length, realize the alternation shake of offset frequency, laser gyro is exported light again to reflex in resonator cavity, and make clockwise light beam still enter clockwise loop, counterclockwise light beam still enters counterclockwise loop, cause the change of laser gyro inner laser character oscillation frequency,
Wherein, nonreciprocal optical element is Faraday polarization apparatus;
A kind of implementation of laser gyro offset frequency based on external cavity feedback is: the feedback exocoel comprising laser gyro (1) and be made up of the 5th catoptron (6), the 6th catoptron (7), the long modulating device of journey (12), nonreciprocal optical devices (8), and wherein laser gyro (1) is made up of catoptron I (2), catoptron II (3), catoptron III (4), catoptron IV (5); Direction is changed by the 5th catoptron (6) feedback exocoel and the 6th catoptron (7) from the laser of catoptron II (3) transmission, again laser gyroscope resonant cavity is entered into from catoptron IV (5), in like manner, laser gyroscope resonant cavity is reentered from the laser of catoptron IV (5) transmission from catoptron II (3); Due to the effect of external cavity feedback, in laser gyroscope resonant cavity, between clockwise and counterclockwise light wave, add a difference on the frequency
,
, utilize the formula of trigonometric function to obtain:
for the light velocity,
for laser gyro cavity is long,
for the feedback coefficient of clockwise light wave,
with
be respectively the light path that clockwise and counterclockwise light wave is walked at exocoel after the outgoing of laser gyro outgoing mirror,
for the feedback coefficient of counterclockwise light wave;
Nonreciprocal optical device is adopted to make clockwise and counterclockwise external cavity path produce phase differential, namely
,
,
be exactly the light path of light in exocoel except non-reciprocal phase in fact, modulate with the long modulating device of journey (12) to external cavity path, obtaining laser gyro beat frequency that is clockwise and counterclockwise light wave is
, realize the effect of Dithered;
Wherein
for initial phase,
for modulation amplitude,
for modulating frequency,
for the scale factor of laser gyro,
for input angular velocity,
for the phase place of clockwise and counterclockwise light wave,
for lock-in threshold;
In order to make offset frequency accurately deduct in the output signal of laser gyro,
mean value should be 0, to control external cavity path length, make
for
(m is integer), here
for light wave number,
enter from catoptron IV (5) again after laser gyro catoptron II (3) outgoing for clockwise light wave and after catoptron IV (5) outgoing, enter the average light path process in exocoel from catoptron II (3) more counterclockwise.
2. the laser gyroscope offset frequency based on external cavity feedback according to claim 1, is characterized in that, the 5th catoptron (6) and the 6th catoptron (7) adopt high reflectivity mirror.
3. the laser gyroscope offset frequency based on external cavity feedback according to claim 1, is characterized in that, nonreciprocal optical devices (8) structure is, Faraday polarization apparatus (11) is placed between wave plate I (9) and wave plate II (10).
4. the laser gyroscope offset frequency based on external cavity feedback according to claim 1, it is characterized in that, the long modulating device of journey (12) by realizing at the 5th catoptron (6) or the upper sticky piezoelectric ceramic actuator of the 6th catoptron (7), or adopts electro-optical modulation device to realize.
5. the laser gyroscope offset frequency based on external cavity feedback according to claim 1, it is characterized in that, the another kind of implementation of laser gyro offset frequency based on external cavity feedback is: the long modulating device I (24) of catoptron IV (5), catoptron V (20), catoptron VI (21), catoptron VII (22), nonreciprocal optical devices I (23) and journey forms a feedback exocoel, and laser gyro (1) is made up of catoptron I (2), catoptron II (3), catoptron III (4), catoptron IV (5).
6. the laser gyroscope offset frequency based on external cavity feedback according to claim 1, it is characterized in that, the structure of nonreciprocal optical devices is for arranging wave plate III (28) and wave plate IV(29 in Faraday polarization apparatus I (31) both ends of the surface), the side that wave plate III (28) is external plates anti-reflection film (27), wave plate III (28) and wave plate IV(29) be the quarter wave plate made by plated film, their quick shaft direction is mutually orthogonal.
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| RU2736737C1 (en) * | 2020-02-12 | 2020-11-19 | Акционерное общество "Научно-исследовательский институт "Полюс" им. М.Ф. Стельмаха" | System to adjust perimeter of zeeman laser gyroscope |
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| CN106768292B (en) * | 2015-11-24 | 2019-08-20 | 中国航空工业第六一八研究所 | A kind of dithering-wheel working state real-time monitoring method |
| CN109489651B (en) * | 2018-10-31 | 2020-05-01 | 中国人民解放军国防科技大学 | Four-frequency differential laser gyro Faraday magneto-optical glass installation method |
| CN112556679B (en) * | 2020-11-19 | 2022-03-18 | 中国人民解放军国防科技大学 | Positive and negative plug-cock Raman space four-frequency differential laser gyro |
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