CN103900551A - Method for enlarging range of high-precision closed loop fiber-optic gyroscope assisted by MEMS (Micro-electromechanical Systems) - Google Patents
Method for enlarging range of high-precision closed loop fiber-optic gyroscope assisted by MEMS (Micro-electromechanical Systems) Download PDFInfo
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- CN103900551A CN103900551A CN201410083201.2A CN201410083201A CN103900551A CN 103900551 A CN103900551 A CN 103900551A CN 201410083201 A CN201410083201 A CN 201410083201A CN 103900551 A CN103900551 A CN 103900551A
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- 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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Abstract
The invention relates to a method for enlarging a range of a high-precision closed loop fiber-optic gyroscope assisted by MEMS (Micro-electromechanical Systems), which is particularly suitable for the high-precision closed loop fiber-optic gyroscope working in a large angular speed range and existing under a large-angle acceleration input environment. The method comprises the following steps: coaxially mounting an MEMS gyroscope and the high-precision closed loop fiber-optic gyroscope; sensitively inputting an angular speed; utilizing a closed loop digital phase step wave modulation-demodulation detection method to obtain an output angular speed of the high-precision closed loop fiber-optic gyroscope; collecting the output angular speed of the MEMS gyroscope; revising the high-precision closed loop fiber-optic gyroscope output of the fiber-optic gyroscope. According to the method provided by the invention, an output result of the high-precision closed loop fiber-optic gyroscope is revised according to a difference value so that the high-precision fiber-optic gyroscope can work normally under the condition of high angular speed, the aim of enlarging the range of the closed loop fiber-optic gyroscope is realized and the application of the high-precision fiber-optic gyroscope is expanded.
Description
Technical field
The present invention relates to a kind of method based on the auxiliary increase high precision closed loop optical fiber gyroscope range of MEMS.
Background technology
Optical fibre gyro is the angular-rate sensor based on Sagnac effect, has that structure of whole solid state, anti shock and vibration, dynamic range are large, bandwidth, is easy to the advantages such as Digital Realization.High-precision optical fiber gyro is also applied to each field such as Aeronautics and Astronautics, navigation by wide model.But along with the raising of optical fibre gyro precision, its dynamic range will decline, its basic reason is that closed-loop fiber optic gyroscope is operated in angular velocity range corresponding to first order interference fringe, in the time that precision rises, angular velocity corresponding to first order interference fringe declines, if the Sagnac phase shift that now input angular velocity is corresponding exceeds first order striped, and there is larger angular acceleration, to there is larger error in the output of optical fibre gyro, this affected its at some to the have relatively high expectations application in field of gyro dynamic range.
The method that expands at present optical fiber gyroscope dynamic range has three kinds.The first is that sensitive is around-France, by an additional high range, muting sensitivity improve the range of main fiber gyro from optical fibre gyro, but this method practical operation is more difficult, is difficult for realizing, and has increased the cost of system.Second method is the dynamic range expansion based on single-stage interference fringe, and it is the maximum angular acceleration that improves system by increasing system bandwidth.When the method requires gyro to start, in first order interference fringe, meanwhile, in closed loop work, maximum input angle acceleration can not exceed certain value, has limited its practical application.The third method is to utilize Digital Phase-Locked Loop Technology to expand open loop optical fiber gyroscope dynamic range.But the method only can be applied to open-loop optical fiber gyro, open-loop optical fiber gyro is possessed and the similar dynamic range of closed-loop fiber optic gyroscope, can not meet the requirement of high precision closed loop optical fibre gyro.
In recent years, micro-electromechanical technology develops rapidly, MEMS gyro also grows up thereupon, the advantage such as that MEMS gyro has is low in energy consumption, volume is little, cost is low, measurement range is large, anti shock and vibration ability is strong, can reach ± 1500 °/s of range, can be applied in the high rotating speed equipment of vehicle-mounted and these circumstance complications of mobile phone.Although the deviation of MEMS gyro drift is with respect to large many of optical fibre gyro, its output accuracy can meet and judge that high-precision optical fiber gyro detects interference level and the true demand of interference level difference.And MEMS gyro small volume, simple installation, little to the structure influence of original high-precision optical fiber gyro, therefore can utilize little and feature wide range of MEMS gyro volume to proofread and correct the high speed error of high-precision optical fiber gyro.
Summary of the invention
The object of the present invention is to provide a kind of method based on the auxiliary increase high precision closed loop optical fiber gyroscope range of MEMS of the range of application of widening high-precision optical fiber gyro.
The object of the present invention is achieved like this:
Step 1: MEMS gyroscope and high precision closed loop fibre optic gyroscope are coaxially installed to sensitizing input angular velocity;
Step 2: utilize closed-loop digital phase step ripple modulation /demodulation detection method, obtain high precision closed loop fibre optic gyroscope output angle speed;
Step 3: gather MEMS gyroscope output angle speed;
Step 4: in angular speed output correcting device, by MEMS gyro output angle speed Ω
mEMSwith high precision closed loop optical fibre gyro output angle speed Ω
surveymake comparisons, and according to comparative result, revise the output of optical fibre gyro high precision closed loop optical fibre gyro, revise according to as follows:
Make X=Ω
mEMS-Ω
survey,
When-Ω
π< X < Ω
πtime, Ω
out=Ω
survey;
Work as Ω
π< X < Ω
3 πtime, Ω
out=Ω
survey+ 2 Ω
π;
When-Ω
3 π< X <-Ω
πtime, Ω
out=Ω
survey-2 Ω
π;
……
Work as Ω
(2m-1) π< X < Ω
(2m+1) πtime, Ω
out=Ω
survey+ 2m Ω
π;
When-Ω
(2m+1) π< X <-Ω
(2m-1) πtime, Ω
out=Ω
survey-2m Ω
π.
Wherein m is positive integer value, Ω
outfor revising rear fibre optic gyroscope output angle speed;
Described high-precision optical fiber gyro is the optical fibre gyro that zero bias stability is better than 0.001 °/h, and its measurement range is be generally less than ± 50 °/s;
Described generally can reach ± 1500 °/s of MEMS gyro to measure scope;
Described method can expand high precision closed loop optical fiber gyroscope range to ± 1500 °/more than s.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention adopts based on the auxiliary method of MEMS gyro, utilizes MEMS gyro output Ω
mEMSwith high precision closed loop optical fibre gyro output Ω
fmake comparisons, analysis is tried to achieve high precision closed loop optical fibre gyro and is detected interference level and true interference level difference, according to this difference, high precision closed loop optical fibre gyro Output rusults is revised, thereby high-precision optical fiber gyro is normally worked under the velocity conditions of big angle, reach the object that increases closed-loop fiber optic gyroscope range, expand the application of high-precision optical fiber gyro.
The present invention proposes to utilize MEMS gyro output Ω first
mEMSwith optical fibre gyro output Ω
surveydifference judge that optical fibre gyro detects interference level and true interference level difference, judge interference level with the existing output that utilizes the auxiliary gyro of low precision compared with, possess higher precision and reliability.
The present invention proposes to utilize MEMS gyro output Ω
mEMSwith optical fibre gyro output Ω
surveydifference judge that optical fibre gyro detects interference level and true interference level difference, solved the inaccurate problem of the additional compensation of closed-loop fiber optic gyroscope hour producing when input angle acceleration.When input angle acceleration hour, even now exceed-Ω
π～+Ω
πscope, closed-loop fiber optic gyroscope can be followed the tracks of input signal, and the now existing output that utilizes the auxiliary gyro of low precision judges that the method for interference level will bring error to high-precision optical fiber gyro output.
The present invention does not change the closed loop configuration of original optical fibre gyro, does not change its original precision, and MEMS gyro small volume, simple installation, little to the structure influence of original high-precision optical fiber gyro, do not affect its environmental suitability, the method that increases range than other is simple in structure, is easy to realize.
Accompanying drawing explanation
Fig. 1 optical fibre gyro digital closed loop structured flowchart;
Fig. 2 high precision closed loop optical fibre gyro step turning rate input response curve, steady-state value is 50 °/s;
The slope output response curve of Fig. 3 MEMS gyro based on closed loop detection method;
The input angle speed of Fig. 4 MEMS gyro and optical fibre gyro and the relation curve of output angle speed;
The optical fibre gyro curve of output that Fig. 5 proofreaies and correct through MEMS gyro.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described:
Inventive principle:
The principle of optical fibre gyro measured angular speed is that if fiber optic loop exists the rotation with respect to inertial space, two-beam will produce phase differential in the time that two-beam is propagated in opposite directions in fiber optic loop, and this phenomenon is called as Sagnac effect, and its mathematic(al) representation is
wherein Φ
sfor Sagnac phase shift, l is fiber optic loop length, and r is fiber optic loop radius, and λ is optical source wavelength, c
0for the light velocity, Ω is input angular velocity.Fix when length, the radius of fiber optic loop, when optical source wavelength and light velocity constant, be not difficult to find out, rotating speed and phase shift relation in direct ratio.Therefore just can go out input speed according to Sagnac calculation of effect by detecting phase shift.
The phase differential of two-beam is directly measured very difficult, and in reality, optical fibre gyro is according to interference of light characteristic, and the light intensity after interfering by detection two-beam changes to detect the conversion of rotating speed.Closed-loop fiber optic gyroscope adopts square-wave frequency modulation, and the mode of close-loop feedback detects the difference DELTA I=2I of the interference signal of adjacent two semiperiods
0sin Φ
scarry out detected phase poor, wherein I
0for input light intensity.From above formula, light intensity difference DELTA I and Sagnac phase shift phi
sbeing the relation of sine function, is periodic function.As exceeded ± Ω of Sagnac phase shift corresponding to rotating speed
πscope, interference of light will exceed first order striped, optical fibre gyro will be operated in m level interference fringe place (m=± 1, ± 2 ...), the now phase shift phi of the output of rotating speed optical fibre gyro
s' still in-π～+ π, but Sagnac phase shift corresponding to rotating speed is Φ
s=Φ
s'+2m π, now by Φ
sthe rotating speed Ω that ' calculating obtains
surveywith true input speed Ω
trulycompare, will have larger error, and Ω
survey=Ω
truly-2m Ω
π, wherein Ω
πfor phase shift is+corresponding input angular velocity when π.
Take certain typical high precision closed loop optical fibre gyro as example, optical source wavelength λ=1550nm, the length l=3000m of fiber optic loop, fiber optic loop radius r=0.1m, light velocity c
0=3 × 10
8m/s, now Ω
π=+22.21 °/s its measurement range is that-22.21 °/s is to+22.21 °/s.When input angular velocity exceeds this scope, and while there is larger angular acceleration, the output of optical fibre gyro still at-22.21 °/s within the scope of+22.21 °/s, there is 2m Ω
πoutput error.If can judge the fringe order m at optical fibre gyro interference place, can revise optical fibre gyro.The interference fringe correspondence of the every one-level of optical fibre gyro a larger input angular velocity scope, and for example, interfering first order striped corresponding angles velocity range is that-22.21 °/s is to+22.21 °/s.As long as therefore a kind of equipment of the detection input angular velocity that possesses certain measuring accuracy can be provided, just can high precision closed loop fibre optic gyroscope be exported and be revised by the output valve of this equipment, thereby reach the object that increases high precision closed loop optical fiber gyroscope range.
MEMS gyroscope possesses larger range, and the detection angular velocity of certain precision can be provided, and in the time that high precision closed loop fibre optic gyroscope produces measuring error due to no to scale, the gyrostatic output of MEMS will more approach true angular velocity.Therefore can utilize MEMS gyro output Ω
mEMSwith optical fibre gyro output Ω
surveymake comparisons, utilize the true interference level of its differential analysis and detect interference level difference, and revise optical fibre gyro output, thereby improve optical fiber gyroscope range.
The technical solution adopted in the present invention is: a kind of method based on the auxiliary increase closed-loop fiber optic gyroscope range of MEMS, is characterized in that realizing by following steps:
Step 1: MEMS gyroscope and high precision closed loop fibre optic gyroscope are coaxially installed to sensitizing input angular velocity.
Step 2: utilize closed-loop digital phase step ripple modulation /demodulation detection method, obtain high precision closed loop fibre optic gyroscope output angle speed.
Step 3: gather MEMS gyroscope output angle speed.
Step 4: in angular speed output correcting device, by MEMS gyro output angle speed Ω
mEMSwith high precision closed loop optical fibre gyro output angle speed Ω
surveymake comparisons, and according to comparative result, revise the output of optical fibre gyro high precision closed loop optical fibre gyro, revise according to as follows:
Make X=Ω
mEMS-Ω
survey, (final stage to this specific explanations relatively at this instructions)
When-Ω
π< X < Ω
πtime, Ω
out=Ω
survey;
Work as Ω
π< X < Ω
3 πtime, Ω
out=Ω
survey+ 2 Ω
π;
When-Ω
3 π< X <-Ω
πtime, Ω
out=Ω
survey-2 Ω
π;
……
Work as Ω
(2m-1) π< X < Ω
(2m+1) πtime, Ω
out=Ω
survey+ 2m Ω
π;
When-Ω
(2m+1) π< X <-Ω
(2m-1) πtime, Ω
out=Ω
survey-2m Ω
π.
Wherein m is positive integer value, Ω
outfor revising rear fibre optic gyroscope output angle speed.
Described high-precision optical fiber gyro is the optical fibre gyro that zero bias stability is better than 0.001 °/h, and its measurement range is be generally less than ± 50 °/s.
Described generally can reach ± 1500 °/s of MEMS gyro to measure scope.
Therefore described method can expand high precision closed loop optical fiber gyroscope range to ± 1500 °/more than s.
Take certain typical high precision closed loop optical fibre gyro as example, optical source wavelength λ=1550nm, the length l=3000m of fiber optic loop, fiber optic loop radius r=0.1m, light velocity c
0=3 × 10
8m/sm/s, now Ω
π=+22.21 °/s its measurement range is that-22.21 °/s is to+22.21 °/s.Selecting measurement range is that the MEMS gyroscope of 1500 °/s increases high precision closed loop fibre optic gyroscope range.
Step 1: MEMS gyroscope and high precision closed loop fibre optic gyroscope are coaxially installed to sensitizing input angular velocity.
Step 2: utilize closed-loop digital phase step ripple modulation /demodulation detection method, obtain the output of high precision closed loop fibre optic gyroscope.Optical fibre gyro digital closed loop structured flowchart as shown in Figure 1.In order to increase the detection sensitivity of gyro, conventionally gyro is applied to amplitude and be
square wave modulate, the pass of detecting like this light intensity and phase differential is I=I
0(1+cos ΔΦ), wherein
i
0for light source intensity, Φ
sfor Sagnac phase shift, Φ
fBfor feedback phase.Photodetector is converted into electric signal by transimpedance amplifier by light signal, electric signal through further signal processing comprise amplification, every links such as straight, filtering, then through AD, conversion is carried out forming the output of phase place step signal as gyro after digital demodulation, digital integration in FPGA, step signal is carried out to a digital integration more simultaneously and form phase step ripple, after then changing by DA, be applied to together with square-wave modulation signal on rearmounted amplification driver.Voltage signal is applied to the enterprising line phase modulation of LiNiO3 crystal (Y waveguide) by driver, so just formed complete-digital closed-loop structure.
According to above-mentioned closed-loop fiber optic gyroscope model, in the time being input as 50 °/s step angular velocity, exceed the measurement range of-22.21 °/s to+22.21 °/s, can obtain output waveform as shown in Figure 2, now system output steady-state value and actual value differ-2 Ω
π=-44.42 °/s.
Step 3: gather the output of MEMS gyroscope, obtain Ω
mEMS, as shown in Figure 3, in the time being input as 50 °/s step angular velocity, the slope output response curve of MEMS gyro based on closed loop detection method.Closed loop MEMS gyro used can be at 0.5*10
-3the s moment just can be followed the tracks of input angle speed.
Step 4: in the angular speed output correcting device shown in Fig. 1, by MEMS gyro output angle speed Ω
mEMSwith high precision closed loop optical fibre gyro output angle speed Ω
surveymake comparisons, and according to comparative result, revise the output of high precision closed loop optical fibre gyro.
Fig. 4 is the relation curve of input angle speed and the output angle speed of MEMS gyro and optical fibre gyro, can find out, in the time that input angle speed exceeds measurement range, high precision closed loop optical fibre gyro will produce larger error, and MEMS gyro can provide magnitude of angular velocity more accurately.
Utilize MEMS gyro output Ω
mEMSwith optical fibre gyro output Ω
surveythe specific practice of revising optical fibre gyro output is:
Make X=Ω
mEMS-Ω
survey, can be calculated Ω in this example
π< X < Ω
3 π, therefore revised high-precision optical fiber gyro instrument output valve is, Ω
out=Ω
survey+ 2 Ω
π=50 °/s.Angular speed output correcting device shown in Fig. 1 is generally programmable chip, and optical fibre gyro output and the output of MEMS gyro are gathered to chip, judges and revises according to the program being written in chip, finally exports revised output angle speed.Fig. 5 is the optical fibre gyro output curve diagram of proofreading and correct through MEMS gyro, and it is input as angular acceleration is 4000rad/s
2slope curve, steady-state value is 50 °/s.Through MEMS, input signal curve can be finally followed the tracks of in revised output, reaches the object that increases closed-loop fiber optic gyroscope range, solves the output error problem under the acceleration environment of big angle.
Claims (1)
1. the method based on the auxiliary increase high precision closed loop optical fiber gyroscope range of MEMS, is characterized in that:
Step 1: MEMS gyroscope and high precision closed loop fibre optic gyroscope are coaxially installed to sensitizing input angular velocity;
Step 2: utilize closed-loop digital phase step ripple modulation /demodulation detection method, obtain high precision closed loop fibre optic gyroscope output angle speed;
Step 3: gather MEMS gyroscope output angle speed;
Step 4: in angular speed output correcting device, by MEMS gyro output angle speed Ω
mEMSwith high precision closed loop optical fibre gyro output angle speed Ω
surveymake comparisons, and according to comparative result, revise the output of optical fibre gyro high precision closed loop optical fibre gyro, revise according to as follows:
Make X=Ω
mEMS-Ω
survey,
When-Ω
π< X < Ω
πtime, Ω
out=Ω
survey;
Work as Ω
π< X < Ω
3 πtime, Ω
out=Ω
survey+ 2 Ω
π;
When-Ω
3 π< X <-Ω
πtime, Ω
out=Ω
survey-2 Ω
π;
……
Work as Ω
(2m-1) π< X < Ω
(2m+1) πtime, Ω
out=Ω
survey+ 2m Ω
π;
When-Ω
(2m+1) π< X <-Ω
(2m-1) πtime, Ω
out=Ω
survey-2m Ω
π.
Wherein m is positive integer value, Ω
outfor revising rear fibre optic gyroscope output angle speed;
Described high-precision optical fiber gyro is the optical fibre gyro that zero bias stability is better than 0.001 °/h, and its measurement range is be generally less than ± 50 °/s;
Described generally can reach ± 1500 °/s of MEMS gyro to measure scope;
Described method can expand high precision closed loop optical fiber gyroscope range to ± 1500 °/more than s.
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| CN104949669A (en) * | 2015-06-24 | 2015-09-30 | 北京理工大学 | Method for expanding range of fiber optic gyroscope based on magnetoresistive sensor |
| CN105136133A (en) * | 2015-08-17 | 2015-12-09 | 中北大学 | High-linearity combined-type wide-measuring range resonator fiber optic gyro |
| CN108534799A (en) * | 2018-03-08 | 2018-09-14 | 湖北三江航天红峰控制有限公司 | It is a kind of to correct the method and device that three axis optical fibre gyro is exported across striped using MEMS |
| CN110989463A (en) * | 2019-12-24 | 2020-04-10 | 北京金迈捷科技有限公司 | Online measurement range switching system and method |
| CN114295115A (en) * | 2022-01-07 | 2022-04-08 | 北京思卓博瑞科技有限公司 | Method and device for improving dynamic range of fiber-optic gyroscope |
| CN115127534A (en) * | 2022-09-01 | 2022-09-30 | 中国船舶重工集团公司第七0七研究所 | Quartz gyroscope sine wave phase detection compensation method based on carrier modulation |
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| CN116448088A (en) * | 2023-06-07 | 2023-07-18 | 中国船舶集团有限公司第七〇七研究所 | Gyroscope correction device and correction method |
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| CN104061922A (en) * | 2014-06-23 | 2014-09-24 | Tcl通讯（宁波）有限公司 | Mobile terminal gyroscope range setting method, system and mobile terminal |
| CN104949669A (en) * | 2015-06-24 | 2015-09-30 | 北京理工大学 | Method for expanding range of fiber optic gyroscope based on magnetoresistive sensor |
| CN105136133A (en) * | 2015-08-17 | 2015-12-09 | 中北大学 | High-linearity combined-type wide-measuring range resonator fiber optic gyro |
| CN105136133B (en) * | 2015-08-17 | 2017-09-22 | 中北大学 | High linearity, combined type wide range resonance type optical fiber gyro |
| CN108534799B (en) * | 2018-03-08 | 2021-04-02 | 湖北三江航天红峰控制有限公司 | Method and device for correcting cross-stripe output of triaxial fiber-optic gyroscope by using MEMS (micro-electromechanical systems) |
| CN108534799A (en) * | 2018-03-08 | 2018-09-14 | 湖北三江航天红峰控制有限公司 | It is a kind of to correct the method and device that three axis optical fibre gyro is exported across striped using MEMS |
| US11656081B2 (en) * | 2019-10-18 | 2023-05-23 | Anello Photonics, Inc. | Integrated photonics optical gyroscopes optimized for autonomous terrestrial and aerial vehicles |
| CN110989463A (en) * | 2019-12-24 | 2020-04-10 | 北京金迈捷科技有限公司 | Online measurement range switching system and method |
| CN114295115A (en) * | 2022-01-07 | 2022-04-08 | 北京思卓博瑞科技有限公司 | Method and device for improving dynamic range of fiber-optic gyroscope |
| CN115127534A (en) * | 2022-09-01 | 2022-09-30 | 中国船舶重工集团公司第七0七研究所 | Quartz gyroscope sine wave phase detection compensation method based on carrier modulation |
| CN115127534B (en) * | 2022-09-01 | 2022-11-18 | 中国船舶重工集团公司第七0七研究所 | Quartz gyro sine wave phase detection compensation method based on carrier modulation |
| CN116448088A (en) * | 2023-06-07 | 2023-07-18 | 中国船舶集团有限公司第七〇七研究所 | Gyroscope correction device and correction method |
| CN116448088B (en) * | 2023-06-07 | 2023-09-05 | 中国船舶集团有限公司第七〇七研究所 | Gyroscope correction device and correction method |
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