CN103940593A - Quick measuring method for fiber-optic gyroscope transition time based on digital sawtooth wave - Google Patents
Quick measuring method for fiber-optic gyroscope transition time based on digital sawtooth wave Download PDFInfo
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- CN103940593A CN103940593A CN201410175774.8A CN201410175774A CN103940593A CN 103940593 A CN103940593 A CN 103940593A CN 201410175774 A CN201410175774 A CN 201410175774A CN 103940593 A CN103940593 A CN 103940593A
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Abstract
The invention discloses a quick measuring method for fiber-optic gyroscope transition time based on digital sawtooth wave. An electrooptical modulator is modulated by digital sawtooth wave signals, the sawtooth wave signals are traversed in a periodical value range one by one in a progressive increasing mode, modulation results of sawtooth wave signals in different periods are sampled and processed to form a result sequence, an initial measuring result is calculated out according to the period of the sawtooth wave signals corresponding to the minimum value in the result sequence, a second periodical value range is set according to the initial measuring result, the above steps are repeated to obtain a second measuring result sequence, and a second measuring result is calculated according to the period of the sawtooth wave signal corresponding to the minimum value of the second measuring result sequence to obtain a final fiber-optic gyroscope transition time. The quick measuring method can quickly test the fiber-optic gyroscope transition time without adding testing equipment or periods, solves the problem of transition time change caused by adjusting an optical system in a fiber-optic gyroscope producing process and flexibly meets engineering and batching production of fiber-optic gyroscopes.
Description
Technical field
The present invention relates to a kind of disposal route of signal of fiber optical gyroscope, relate in particular to a kind of optical fibre gyro transit time method for fast measuring based on digital sawtooth wave.
Background technology
Light is propagated one week needed time and is called the transit time in optical fibre gyro has the light path of reciprocity.In middle high-precision optical fiber gyro research field, mostly adopt at present the technological means of digital closed loop both at home and abroad, by electrooptic modulator, optical fibre gyro is modulated, analog to digital converter is converted to digital signal by the output analog voltage signal of optical fibre gyro, by digital signal processor, carries out differential ference spiral processing.Electrooptic modulator Main Function has two: time delay differential modulation, and the operating bias that changes optical fibre gyro puts to improve sensitivity, the linearity; The phase differential detecting is fed back, realize optical fibre gyro closed loop policy.
Zero bias stability is the key index of optical fibre gyro, and the method that improves zero bias stability is to reduce the modulation error of integrated electro phase-modulator.The main cause that causes modulation error comprises the modulation signal semiperiod and the transit time is unequal, modulation channels is non-linear and electrooptic modulator nonlinearity etc.Modulation signal semiperiod and transit time are unequal is topmost factor, the existence of this error can make optical fibre gyro produce relative offset, be equivalent to the error component that superposes in the output signal of optical fibre gyro, optical fibre gyro precision and resolution are declined, and therefore zero bias stability is more subject to environmental change impact.Therefore, Measurement accuracy optical fibre gyro transit time to choose suitable modulation period with this be the basic premise that improves zero bias stability.
Length and the refractive index of the transit time of optical fibre gyro by fiber optic loop determines.In process of production, the refractive index of fiber optic loop can think that approximate constant, transit time are mainly determined by the length of fiber optic loop, can with this, obtain the estimated value of transit time, and precision is about 50ns magnitude, can not meet the requirement of middle high-precision optical fiber gyro.In addition, have the mutual welding of a plurality of photoelectric devices in optical fibre gyro production run, fiber optic loop length can change again, and after all photoelectric device assemblings, whole fiber optic loop is just determined.Therefore need a kind of method, can optical fibre gyro assemble complete after, do not need additional devices, equipment, only rely on transit time estimated value, by signal, process the Quick Measurement of realizing the optical fibre gyro transit time, meet measuring accuracy, reach the requirement of optical fibre gyro through engineering approaches simultaneously.
Summary of the invention
Measurement accuracy requirement to the transit time in producing at present middle high-precision optical fiber gyro through engineering approaches, solve the transit time variation issue causing because of optical system adjustment in production run, the object of the present invention is to provide a kind of optical fibre gyro transit time method for fast measuring based on digital sawtooth wave.
The technical solution used in the present invention comprises that step is as follows:
1) adopt digital sawtooth signal to modulate electrooptic modulator, the peak-to-peak value of this sawtooth signal is fixed;
2) sawtooth signal travels through one by one by the order increasing progressively in cycle span, until traveled through in the cycle span of sawtooth signal, rear composition result sequence is sampled, processed to sawtooth signal modulation result under different cycles, 1/10th of the cycle span that traversal step-length is sawtooth signal;
3) in the sawtooth signal cycle corresponding according to minimum value in result sequence, calculate first measurement result of optical fibre gyro transit time;
4) by first measurement result of optical fibre gyro transit time, set the span of cycle for the second time of sawtooth signal, repeating step 2), obtain measurement result sequence for the second time;
5) according to sawtooth signal cycle corresponding to minimum value in measurement result sequence for the second time, calculate the measurement result for the second time of optical fibre gyro transit time, obtain the final optical fibre gyro transit time.
The peak-to-peak value of the sawtooth signal described step 1) is fixed as 2 times of integrated electro half-wave voltage of phase modulator.
The cycle T of the sawtooth signal described step 2)
nspan is 1.8 τ
estimate≤ T
n≤ 2.2 τ
estimate, wherein n is traversal cycle sequence number, τ
estimatefor optical fibre gyro transit time estimated value, by total fiber optic loop length and the light velocity, be divided by and calculate.
Described step 2) concrete steps of the sampling of sawtooth signal modulation result, processing under different cycles are comprised: at 0～T
nin/2 time, get cumulative first half periodic accumulation and the A of obtaining of 32 sampled points
n, at T
n/ 2～T
ntime in get that 32 sampled points are cumulative obtains later half cycle cumulative sum B
n, first half periodic accumulation and A
nwith later half cycle cumulative sum B
nsubtract each other after taking absolute value and obtain result D
n=| A
n– B
n|; Again by different cycles T
ncorresponding demodulation result forms result sequence D={ D
1, D
2, D
3..., D
11.
Described step 3) specifically comprise: by the minimum value D of result sequence D
minthe corresponding sawtooth signal cycle is T
min, first measurement result τ of optical fibre gyro transit time
just=T
min/ 2;
Described step 4) described cycle T for the second time
n' span is 1.98 τ
just≤ T
n'≤2.02 τ
just, wherein n is traversal cycle sequence number, τ
juststep 3) the first measurement result of optical fibre gyro transit time that obtains.
Described step 5) specifically comprise: by measurement result sequence D for the second time ' minimum value D
min' the corresponding sawtooth signal cycle is T
min', final optical fibre gyro transit time τ=T
min'/2.
The value of described traversal cycle sequence number n is n=0,1,2 ..., 11.
The beneficial effect that the present invention has is:
The present invention can Quick Measurement optical fibre gyro transit time, measuring process does not need additional devices or equipment; According to measurement procedure, the measuring process used time is less than 5ms, and it is quick, high precision characteristic is enough to meet optical fibre gyro through engineering approaches, batch production requirements.
Accompanying drawing explanation
Fig. 1 is optical fibre gyro system structural representation.
Fig. 2 is T
noptical Fiber Gyroscope schematic diagram during=2 τ.
Fig. 3 is T
noptical Fiber Gyroscope schematic diagram during >2 τ.
Fig. 4 is T
noptical Fiber Gyroscope schematic diagram during <2 τ.
Fig. 5 is Optical Fiber Gyroscope peak-to-peak value and modulation sawtooth signal cycle T
nbe related to schematic diagram.
Fig. 6 is curve of first measurement result-signal period of optical fibre gyro transit time.
Fig. 7 is optical fibre gyro transit time measurement result-signal period curve for the second time.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
The inventive method comprises the following steps:
1) adopt digital sawtooth signal to modulate electrooptic modulator, the peak-to-peak value of this sawtooth signal is fixed;
2) sawtooth signal travels through one by one by the order increasing progressively in cycle span, until traveled through in the cycle span of sawtooth signal, rear composition result sequence is sampled, processed to sawtooth signal modulation result under different cycles, 1/10th of the cycle span that traversal step-length is sawtooth signal;
3) in the sawtooth signal cycle corresponding according to minimum value in result sequence, calculate first measurement result of optical fibre gyro transit time, as coarse value;
4) by first measurement result of optical fibre gyro transit time, set the span of cycle for the second time of sawtooth signal, repeating step 2), obtain measurement result sequence for the second time;
5) according to sawtooth signal cycle corresponding to minimum value in measurement result sequence for the second time, calculate the measurement result for the second time of optical fibre gyro transit time, obtain the final optical fibre gyro transit time, as exact value.
The peak-to-peak value of the sawtooth signal step 1) is fixed as 2 times of integrated electro half-wave voltage of phase modulator.
The cycle T of the sawtooth signal step 2)
nspan is 1.8 τ
estimate≤ T
n≤ 2.2 τ
estimate, wherein n is traversal cycle sequence number, n=0, and 1,2 ..., 11, τ estimates for optical fibre gyro transit time estimated value, by total fiber optic loop length and the light velocity, is divided by and is calculated.
Step 2) concrete steps of the sampling of sawtooth signal modulation result, processing under different cycles are comprised: at 0～T
nin/2 time, get cumulative first half periodic accumulation and the A of obtaining of 32 sampled points
n, at T
n/ 2～T
ntime in get that 32 sampled points are cumulative obtains later half cycle cumulative sum B
n, first half periodic accumulation and A
nwith later half cycle cumulative sum B
nsubtract each other after taking absolute value and obtain result D
n=| A
n– B
n|; Again by different cycles T
ncorresponding demodulation result forms result sequence D={ D
1, D
2, D
3..., D
11.
Step 3) specifically comprise: by the minimum value D of result sequence D
minthe corresponding sawtooth signal cycle is T
min, D
min=min (D), first measurement result τ of optical fibre gyro transit time
just=T
min/ 2;
Step 4) described cycle T for the second time
n' span is 1.98 τ
just≤ T
n'≤2.02 τ
just, wherein n is traversal cycle sequence number, n=0, and 1,2 ..., 11, τ
juststep 3) the first measurement result of optical fibre gyro transit time that obtains.
Step 5) specifically comprise: by measurement result sequence D for the second time ' minimum value D
min' the corresponding sawtooth signal cycle is T
min', D
min'=min (D '), final optical fibre gyro transit time τ=T
min'/2.
The inventive method can be processed signal of fiber optical gyroscope in optical fibre gyro system structure as shown in Figure 1, by analog to digital converter, Optical Fiber Gyroscope is sampled, and by FPGA, sampled result is processed and is formed result sequence.
Design concept of the present invention is:
If sawtooth signal modulation amplitude is ± pi/2 to be expressed as follows:
Wherein, φ
m(t) be the phase modulation that electrooptic modulator is introduced, t is the time, T
nbe sawtooth period, k is sequence numbering modulation period.Suppose that the optical fibre gyro transit time is τ, according to time delay differential modulation principle, in fiber optic loop, along clockwise, propagate and the phase difference φ of the counterclockwise two-beam of propagating after electrooptic modulator
m(t) be:
Δφ
m(t)＝φ
m(t)-φ
m(t-τ)
The output signal of optical fibre gyro is expressed as:
I(t)＝I
0{1+cos[Δφ
m(t)]}
Wherein, I
0be optical fibre gyro input light intensity, I (t) is optical fibre gyro output interference light intensity.
Work as T
nduring=2 τ, can be obtained fom the above equation:
Now, by (3) Shi Ke get: I (t)=I
0
Fig. 2 is T
noptical Fiber Gyroscope schematic diagram during=2 τ, according to time delay differential modulation principle, two beam reversals propagate the phase difference φ of light
m(t) value is ± V
pi/2, by interfering output intensity expression formula (3) can obtain Optical Fiber Gyroscope for normal value.
T
nduring >2 τ, by (1), (2) Shi Ke get:
Now, from (3) formula, interfere that output intensity shows as that dutycycle is less than 1, the cycle is T
n, average approximates I
0square wave.
Fig. 3 is T
noptical Fiber Gyroscope schematic diagram during >2 τ, according to time delay differential principle, two beam reversals propagate the phase difference φ of light
m(t) average is constant, but dutycycle changes.By the output signal of interfering output intensity expression formula can obtain optical fibre gyro show as that dutycycle is less than 1, the cycle is T
n, average approximates I
0square wave.Electrooptic modulator is at ± V
pi/2better linear during near work, establish T
n=2.2 τ, the peak value that can be calculated optical fibre gyro output square-wave signal is 0.858I
0, 1.142I
0.
T
nduring <2 τ, by (1), (2) Shi Ke get:
Now, from (3) formula, interfere that output intensity shows as that dutycycle is greater than 1, the cycle is T
n, average approximates I
0square wave.
Fig. 4 is T
noptical Fiber Gyroscope schematic diagram during <2 τ, according to time delay differential principle, two beam reversals propagate the phase difference φ of light
m(t) average is constant, but dutycycle changes.By the output signal of interfering output intensity expression formula can obtain optical fibre gyro show as that dutycycle is greater than 1, the cycle is T
n, average approximates I
0square wave.Electrooptic modulator is at ± V
pi/2better linear during near work, establish T
n=1.8 τ, the peak value that can be calculated optical fibre gyro output square-wave signal is 0.826I
0, 1.174I
0.
By above-mentioned a), b), c) derive, T
nnear 2 τ, get different values, Optical Fiber Gyroscope I (t) changes thereupon: T
n=2 τ, I (t)=I
0for normal value; T
n≠ 2 τ, I (t) is that certain dutycycle, cycle are T
n, average is about I
0square wave, square wave peak-to-peak value can approximate representation be:
Optical Fiber Gyroscope peak-to-peak value with modulation the sawtooth signal cycle relation curve as shown in Figure 5, T when can obtain accordingly exporting square-wave signal peak-to-peak value minimum
n=2 τ.
According to above-mentioned principle, the Quick Measurement of fast optical fibre gyro transit time can adopt the inventive method.
Measuring accuracy of the present invention depends on measurement result D
nprecision, D
nprecision depends on the resolution of analog to digital converter and obtains A
n, B
naccumulative frequency, as use 16 bit resolution analog to digital converters, measuring accuracy of the present invention can reach 1/2
16+5, be about 2,000,000/.
Embodiments of the invention:
In the present embodiment, according to fiber optic loop length and the light velocity, draw transit time estimated value τ
estimate=6.782 microseconds.When step is carried out actual test according to the present invention, obtain first measurement result, draw measurement result-signal period curve, see accompanying drawing 6; Obtain sawtooth signal cycle T corresponding to first measurement result sequence minimum value
min=1.96 τ
estimate, calculate thus τ
just=T
min/ 2=0.98 τ
estimate=6.646 microseconds.By first measurement result of optical fibre gyro transit time, set after the cycle span for the second time of sawtooth signal, duplicate measurements step 2, obtains measurement result for the second time, draws measurement result-signal period curve, sees accompanying drawing 7; Obtain sawtooth signal cycle T corresponding to measurement result sequence minimum value for the second time
min'=1.996 τ
just, calculate thus τ=T
min'/2=0.998 τ
just=6.632 microseconds.
In measuring process, calculate each sawtooth signal period Tn alignment processing required time of result Dn and be about 2 times of transit time, corresponding 22 different signal periods of whole testing process, the used time is about 45 times of transit time; The common optical fiber gyro that the fiber optic loop length of take is 300m is example, and whole test process required time is about 1ms, adds FPGA data communication required time, and the measuring process used time is less than 5ms.The present invention has saved the test duration by twice traversal the method that changes traversal step-length.One of percentage that is cycle span with single ergodic, step-length is compared, and the time is reduced to approximately 45 times of transit time by approximately 200 times of transit time.
Above-mentioned embodiment is used for the present invention that explains, rather than limits the invention, and in the protection domain of spirit of the present invention and claim, any modification and change that the present invention is made, all fall into protection scope of the present invention.
Claims (7)
1. the optical fibre gyro transit time method for fast measuring based on digital sawtooth wave, is characterized in that the step of the method is as follows:
1) adopt digital sawtooth signal to modulate electrooptic modulator, the peak-to-peak value of this sawtooth signal is fixed;
2) sawtooth signal travels through one by one by the order increasing progressively in cycle span, until traveled through in the cycle span of sawtooth signal, rear composition result sequence is sampled, processed to sawtooth signal modulation result under different cycles, 1/10th of the cycle span that traversal step-length is sawtooth signal;
3) in the sawtooth signal cycle corresponding according to minimum value in result sequence, calculate first measurement result of optical fibre gyro transit time;
4) by first measurement result of optical fibre gyro transit time, set the span of cycle for the second time of sawtooth signal, repeating step 2), obtain measurement result sequence for the second time;
5) according to sawtooth signal cycle corresponding to minimum value in measurement result sequence for the second time, calculate the measurement result for the second time of optical fibre gyro transit time, obtain the final optical fibre gyro transit time.
2. a kind of optical fibre gyro transit time method for fast measuring based on digital sawtooth wave according to claim 1, is characterized in that: the peak-to-peak value of the sawtooth signal in described step 1) is fixed as 2 times of integrated electro half-wave voltage of phase modulator.
3. a kind of optical fibre gyro transit time method for fast measuring based on digital sawtooth wave according to claim 1, is characterized in that: the cycle of the sawtooth signal described step 2)
t n span is 1.8 τ
estimate≤
t n ≤ 2.2 τ
estimate, wherein n is traversal cycle sequence number, τ
estimatefor optical fibre gyro transit time estimated value, by total fiber optic loop length and the light velocity, be divided by and calculate.
4. a kind of optical fibre gyro transit time method for fast measuring based on digital sawtooth wave according to claim 1, is characterized in that: described step 2) sawtooth signal modulation result sampling under different cycles, the concrete steps processed are comprised: 0～
t n in/2 time, get 32 sampled points cumulative obtain first half periodic accumulation and
a n ,
t n / 2～
t n time in get that 32 sampled points are cumulative obtains later half cycle cumulative sum
b n , first half periodic accumulation and
a n with later half cycle cumulative sum
b n subtract each other after taking absolute value and obtain result
d n =|
a n –
b n |; Again by different cycles
t n corresponding demodulation result forms result sequence
d=
d 1,
d 2,
d 3...,
d 11.
5. a kind of optical fibre gyro transit time method for fast measuring based on digital sawtooth wave according to claim 1, is characterized in that: described step 3) specifically comprises: by result sequence
dminimum value
d minthe corresponding sawtooth signal cycle is
t min, first measurement result τ of optical fibre gyro transit time
just=
t min/ 2;
A kind of optical fibre gyro transit time method for fast measuring based on digital sawtooth wave according to claim 1, is characterized in that: the cycle for the second time described in described step 4)
t n ' span is 1.98 τ
just≤
t n '≤2.02 τ
just, wherein n is traversal cycle sequence number, τ
justit is the first measurement result of optical fibre gyro transit time that step 3) obtains.
6. a kind of optical fibre gyro transit time method for fast measuring based on digital sawtooth wave according to claim 1, is characterized in that: described step 5) specifically comprises: by measurement result sequence for the second time
d' minimum value
d min' the corresponding sawtooth signal cycle is
t min', final optical fibre gyro transit time τ=
t min'/2.
7. according to the arbitrary described a kind of optical fibre gyro transit time method for fast measuring based on digital sawtooth wave of claim 3 or 6, it is characterized in that: the value of described traversal cycle sequence number n is
n=0,1,2 ..., 11.
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| CN107356266A (en) * | 2017-07-25 | 2017-11-17 | 北京航空航天大学 | Optical fiber gyroscope eigenfrequency measuring method based on even times of eigenfrequency saw wave modulator |
| CN107389097A (en) * | 2017-07-25 | 2017-11-24 | 北京航空航天大学 | Optical fibre gyro Sagnac fiber optic loop eigenfrequency tracking measurement methods |
| CN107917705A (en) * | 2017-11-07 | 2018-04-17 | 浙江大学 | A kind of apparatus for real time tracking and method of optical fibre gyro transition time |
| CN114389706A (en) * | 2021-12-31 | 2022-04-22 | 广东国腾量子科技有限公司 | System and method for measuring half-wave voltage of lithium niobate phase modulator of QKD system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107356266A (en) * | 2017-07-25 | 2017-11-17 | 北京航空航天大学 | Optical fiber gyroscope eigenfrequency measuring method based on even times of eigenfrequency saw wave modulator |
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| CN107917705B (en) * | 2017-11-07 | 2020-05-19 | 浙江大学 | Real-time tracking device and method for transition time of fiber-optic gyroscope |
| CN114389706A (en) * | 2021-12-31 | 2022-04-22 | 广东国腾量子科技有限公司 | System and method for measuring half-wave voltage of lithium niobate phase modulator of QKD system |
| CN114389706B (en) * | 2021-12-31 | 2024-04-16 | 广东国腾量子科技有限公司 | System and method for measuring half-wave voltage of lithium niobate phase modulator of QKD system |
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