CN104713575A - Method for testing frequency characteristic of closed loop fiber optic gyroscope - Google Patents
Method for testing frequency characteristic of closed loop fiber optic gyroscope Download PDFInfo
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- CN104713575A CN104713575A CN201310675756.1A CN201310675756A CN104713575A CN 104713575 A CN104713575 A CN 104713575A CN 201310675756 A CN201310675756 A CN 201310675756A CN 104713575 A CN104713575 A CN 104713575A
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- optical fibre
- fibre gyro
- frequency characteristic
- gyroscope
- fiber optic
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
Abstract
The invention discloses a method for testing the frequency characteristic of a closed loop fiber optic gyroscope. The method comprises the following steps: superposing a fixed step height step wave signal to a feedback digital step wave to make phase step input generated between two light beams propagated in forward and reverse directions in an optic fiber loop; outputting all rotating speeds of the controlled period fiber optic gyroscope; acquiring the output of the fiber optic gyroscope by a signal acquisition system, and allowing the step response sampling time to be same to the gyroscope control period; and carrying out difference calculation on the step response process of the fiber optic gyroscope to obtain the pulse response of the gyroscope, carrying out rapid Fourier transformation on the pulse response of the gyroscope to obtain the amplitude frequency characteristic and phase characteristic curve of the gyroscope, and obtaining the bandwidth of the gyroscope through the frequency characteristic curve of the gyroscope. The method has the advantages of no need of traditional practical testing devices, simple operation, large measuring range and high measuring precision, and can meet the autonomous, rapid and accurate test of the frequency characteristic and the bandwidth of high-bandwidth closed loop fiber optic gyroscopes.
Description
Technical field
The invention belongs to fiber-optics gyroscope, relate to a kind of method of testing of closed-loop fiber optic gyroscope frequency characteristic.
Background technology
Optical fibre gyro is a kind of novel optical gyroscope based on Sagnac effect, for the turning rate of sensitive carrier relative to inertial space.As a kind of desirable strapdown device, optical fibre gyro obtains and applies in a large number and widely in strap-down inertial system.The frequency characteristic of optical fibre gyro refers to and the response characteristic that optical fibre gyro inputs different frequency angular motion comprises amplitude versus frequency characte and phase-frequency characteristic, and the bandwidth of gyro generally then refers to the three dB bandwidth of closed-loop fiber optic gyroscope.The frequency characteristic of optical fibre gyro and band merit are the important signs of dynamic property of optical fiber gyroscope, reflect optical fibre gyro to external world dynamic angular motion sensitive capability.The dynamic perfromance of optical fibre gyro and band merit directly affects vibration performance and the performance of dynamic tracking of optical fibre gyro, thus have impact on the reliability of optical fibre gyro under dynamic environment and adaptability.In the application scenario of the dynamic severe movement environment of height, very high requirement is proposed to the dynamic perfromance of optical fibre gyro and band merit.Therefore, design and the evaluation and test dynamic property of optical fibre gyro and band merit become requisite content in optical fibre gyro research and production process.
Mainly by the equipment such as angle vibration table or hang-up table, the frequency response of measuring fiber gyro and step response realize conventional test methodologies respectively.The bandwidth of optical fibre gyro can reach several kHz even tens kHz, but the maximum frequency of oscillation of angle vibration table, mostly at hundreds of Hz, can not cover the frequency response test specification of optical fibre gyro completely usually.And hang-up table can not produce desirable Stepped Impedance Resonators, and life period fiducial error, the accurate measurement of optical fibre gyro phase frequency and amplitude-frequency can not be met.
In addition the optical fibre gyro frequency characteristic test method superposing the digital signal simulation rotating speed inputs such as fixing step staircase waveform, sinusoidal signal and pseudo-random sequence on optical fibre gyro feedback staircase waveform respectively is also had.Wherein, the method of step response test is adopted to be calculated merely the three dB bandwidth of optical fibre gyro by the rise time of optical fibre gyro step response, do not obtain optical fibre gyro Whole frequency band amplitude-frequency response characteristic, also not obtaining the phase-frequency characteristic of optical fibre gyro, there is significant limitation in method of testing; Sinusoidal excitation method of testing needs the sine wave superposing different frequency and amplitude to carry out tens of tests, test process is complicated, and due to the restriction of optical fibre gyro control cycle, high_frequency sine wave resolution sharply reduces, and have impact on the precision of high band optical fibre gyro frequency response characteristic test; And the method for testing adopting pseudo-random sequence to superpose, the correlativity that make use of optical fibre gyro input and output carries out identification to the impulse response of optical fibre gyro, but the prerequisite of the method is the noise group of hypothesis optical fibre gyro becomes desirable zero-mean white noise, this and optical fibre gyro actual conditions not in full conformity with, and there is the shortcoming of middle and high frequency band optical fibre gyro Points Identification for Process Frequency Response result sharply distortion in the method, can not meet the accurate measurement of optical fibre gyro Whole frequency band phase-frequency characteristic and amplitude versus frequency characte completely.
Summary of the invention
Object of the present invention: propose a kind of closed-loop fiber optic gyroscope frequency characteristic test method, the method can realize Whole frequency band needed for optical fibre gyro frequency characteristic test and cover, and can obtain the amplitude versus frequency characte of optical fibre gyro, phase-frequency characteristic and band merit simultaneously.
Technical scheme of the present invention: a kind of method of testing of closed-loop fiber optic gyroscope frequency characteristic, it is by the staircase waveform of the fixing bench height of superposition on optical fibre gyro feedback staircase waveform, produce the phase differential inputting equivalence with extraneous step rotating speed, obtain the step response of optical fibre gyro; To computing machine high speed acquisition to optical fibre gyro step response data carry out the impulse response that calculus of differences obtains optical fibre gyro, then paired pulses response carry out the frequency characteristic that Fast Fourier Transform (FFT) obtains optical fibre gyro.
Described optical fibre gyro frequency characteristic test method, its step is as follows:
(1) first by optical fibre gyro control software design, on feedback staircase waveform, the staircase waveform of the fixing bench height of superposition, produces the phase differential with extraneous rotating speed Stepped Impedance Resonators equivalent with both forward and reverse directions in the responsive loop of optical fibre gyro between the two-beam propagated;
(2) by optical fibre gyro control software design, the step response of gyro is carried out speedy carding process, make the sampling time of optical fibre gyro step response data identical with optical fibre gyro control cycle, namely at several musec order;
(3) gather by the step response data of computer data acquisition system by optical fibre gyro, to obtain the response of each control cycle in optical fibre gyro step response process;
(4) calculation process such as difference, Fast Fourier Transform (FFT) is carried out to optical fibre gyro step response data, obtain the frequency characteristic of optical fibre gyro, comprise the performance index such as amplitude versus frequency characte, phase-frequency characteristic and frequency span;
Data sampling frequency is musec order, can cover optical fibre gyro up to several KHz even ten KHz frequency characteristic test scopes, make the sampling time of optical fibre gyro step response data identical with the control cycle of tested optical fiber gyro.
Advantage of the present invention and beneficial effect are: as can be seen from above-mentioned provided technical scheme, and optical fibre gyro frequency characteristic test method proposed by the invention only just can need be realized by optical fibre gyro control software design and supporting computer data acquiring, disposal system.By using the method, can the frequency characteristic of autonomous, quick and accurate measuring fiber gyro and band merit.Reliable means easily can be provided for optical fibre gyro frequency characteristic parameter designing and optical fibre gyro dynamic environment adaptability teaching.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that equivalent step signal applies mode;
Fig. 2 is optical fibre gyro frequency characteristic test Method And Principle block diagram disclosed in this invention;
Fig. 3 is step response measured drawing;
Fig. 4 carries out by step response data the pulse respond that calculus of differences obtains;
Fig. 5 is optical fibre gyro amplitude-versus-frequency curve;
Fig. 6 is optical fibre gyro phase-frequency characteristic curve.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further illustrated:
Ultimate principle of the present invention as shown in Figure 1.
According to lineary system theory, system transter G (s) is the Laplace transform of unit impulse response function g (t), and frequency response function G (j ω) is the Fourier transform of unit impulse response function g (t).According to the uniqueness theorem of Laplace transformation, g (t) and G (s) one_to_one corresponding.Therefore if the impulse response of system can be recorded, then can obtain the full detail of regarding system dynamic perfromance.And unit-step response function is zero condition output response h (t) of linear system under the effect of unit-step function 1 (t).Under zero initial condition, impulse response function is the derivative of step response functions, namely
therefore, as long as obtain the step response h (t) of system, step response is differentiated and just can obtain impulse response g (t), then paired pulses response g (t) carries out the frequency characteristic G (j ω) that Fourier transform can obtain system.
As shown in Figure 2, according to the principle of work of digital closed-loop optic fiber gyroscope, the step input signal of the fixing bench height of superposition in digital feedback staircase waveform, then by the phase-modulation effect of integrated optical modulator, the phase signal producing step between the two-beam of both forward and reverse directions propagation in the fiber optic loop of optical fibre gyro just can be made.The phase differential equivalence that this step phase signal and extraneous step rotating speed input cause, therefore obtain the Stepped Impedance Resonators of phase differential by this method, the now output of optical fibre gyro will be the response that optical fibre gyro inputs step signal.
The method of testing of closed-loop fiber optic gyroscope frequency characteristic of the present invention fixes the step input signal of bench height by superposition in digital feedback staircase waveform, and the step response of optical fibre gyro is exported, utilize computing machine step response data to be gathered, just can obtain optical fibre gyro step response data.Then by computing machine, the impulse response that calculus of differences obtains optical fibre gyro is carried out to the step response of optical fibre gyro, just can be obtained the frequency response characteristic of optical fibre gyro again by Fast Fourier Transform (FFT), the performance index such as the amplitude versus frequency characte of optical fibre gyro, phase-frequency characteristic, bandwidth can be obtained thus.
The step of carrying out optical fibre gyro frequency characteristic test according to the present invention is:
(1) input step signal, produces phase differential
On feedback staircase waveform, the staircase waveform of the fixing bench height of superposition, produces the phase differential with extraneous rotating speed Stepped Impedance Resonators equivalent with both forward and reverse directions in the responsive loop of optical fibre gyro between the two-beam propagated.The bench height of staircase waveform should have enough large code value, has corresponding higher amplitude resolution to make test result.Generally can select to make bench height be equivalent to the rotating speed of 10 °/about s.Produce the phase differential inputting equivalent with extraneous rotating speed in this way, can reach than by the more excellent effect of the method for traditional hang-up turntable, namely the initial time of step response accurately can be obtained on the one hand by this method, be conducive to follow-uply carrying out phase-frequency characteristic analysis, the phase differential of generation can be made to be a kind of desirable step signal on the other hand, there is not the transit time with producing during hang-up turntable, being conducive to the precision improving the follow-up amplitude versus frequency characte obtained.
(2) step response of gyro is carried out speedy carding process
Usual user requires lower to the data updating rate of optical fibre gyro, generally be about hundreds of Hz, and in the present invention, in order to make optical fibre gyro frequency characteristic test result, there is higher frequency resolution, improve data of optical fiber gyroscope renewal rate, the rate value by each control cycle of optical fibre gyro (being about several microsecond) exports.Therefore, in the present invention, the sample frequency of step response data reaches tens KHz to hundreds of KHz(because of fiber optic loop length difference generation difference).Because step response data sample frequency is enough high, make the present invention all can cover the frequency range of optical fibre gyro bandwidth test, and make the test result of frequency characteristic have higher frequency resolution.General optical fibre gyro is when communicating with computing machine, data measured in certain hour section can be carried out filtering process, and then data are exported, the turnover rate of data is generally at hundreds of Hz, and namely optical fibre gyro once communicates with computing machine every several milliseconds.In the present invention, the communication mode between optical fibre gyro and computing machine is revised, save the filtering processing links before data of optical fiber gyroscope exports, directly export in data that each control cycle is surveyed by optical fibre gyro., data output format is also simplified meanwhile, be i.e. only comprise the speed data that optical fibre gyro is surveyed in the packet of optical fibre gyro speedy carding process, eliminate the data such as temperature data comprised under normal circumstances, gyro numbering.In this way, the speedy carding process of optical fibre gyro to step response data is achieved.
(3) by computer data acquisition system, the step response data of optical fibre gyro is carried out gathering and storing, to obtain the response of each control cycle in optical fibre gyro step response process.Just the response data h (n) of the whole process of optical fibre gyro step response can be obtained thus, as shown in Figure 3.The data of gained are one-dimension array form, characterize the data of step response at each control cycle of optical fibre gyro.
Step 4: the impulse response obtaining optical fibre gyro
According to lineary system theory, the impulse response function of linear system is the derivative of step response functions, namely
therefore, after obtaining the step response h (t) of system, step response is differentiated and just can obtain impulse response g (t).In the present invention, because surveyed optical fibre gyro step response data is discrete, therefore, derivative operation is corresponding becomes calculus of differences, namely the data in previous cycle are deducted by the data of rear one-period, i.e. impulse response g (n)=h (n)-h (n-1).
The optical fibre gyro impulse response data obtained in this way as shown in Figure 4;
Step 5: the frequency characteristic determining optical fibre gyro
According to lineary system theory, system transter G (s) is the Laplace transform of unit impulse response function g (t), and frequency response function G (j ω) is the Fourier transform of unit impulse response function g (t).Therefore, Fast Fourier Transform (FFT) is carried out to the optical fibre gyro impulse response data obtained in above-mentioned steps 4, just the frequency characteristic of optical fibre gyro can be obtained, comprise amplitude versus frequency characte (as Fig. 5), phase-frequency characteristic (as Fig. 6), from amplitude-versus-frequency curve, find out the 3dB width index that frequency corresponding to amplitude-3dB just can obtain optical fibre gyro.In this way with traditional by carry out compared with shaking table test of many times test obtain optical fibre gyro frequency characteristic method compared with, there is advantage more fast, accurately.
Claims (3)
1. a method of testing for closed-loop fiber optic gyroscope frequency characteristic, is characterized in that: by the staircase waveform of the fixing bench height of superposition on optical fibre gyro feedback staircase waveform, produce the phase differential inputting equivalence with extraneous step rotating speed, obtain the step response of optical fibre gyro; To computing machine high speed acquisition to optical fibre gyro step response data carry out the impulse response that calculus of differences obtains optical fibre gyro, then paired pulses response carry out the frequency characteristic that Fast Fourier Transform (FFT) obtains optical fibre gyro.
2. the method for testing of closed-loop fiber optic gyroscope frequency characteristic according to claim 1, it is characterized in that, concrete steps are as follows: (1) is first by optical fibre gyro control software design, on feedback staircase waveform, the staircase waveform of the fixing bench height of superposition, produces the phase differential with extraneous rotating speed Stepped Impedance Resonators equivalent with both forward and reverse directions in the responsive loop of optical fibre gyro between the two-beam propagated;
(2) by optical fibre gyro control software design, the step response of gyro is carried out speedy carding process, make the sampling time of optical fibre gyro step response data identical with optical fibre gyro control cycle;
(3) gather by the step response data of computer data acquisition system by optical fibre gyro, to obtain the response of each control cycle in optical fibre gyro step response process;
(4) calculation process such as difference, Fast Fourier Transform (FFT) is carried out to optical fibre gyro step response data, obtain the frequency characteristic of optical fibre gyro, comprise amplitude versus frequency characte, phase-frequency characteristic and frequency span.
3. the method for testing of closed-loop fiber optic gyroscope frequency characteristic according to claim 1, it is characterized in that, data sampling frequency is musec order, optical fibre gyro can be covered up to several KHz even ten KHz frequency characteristic test scopes, make the sampling time of optical fibre gyro step response data identical with the control cycle of tested optical fiber gyro.
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| CN104950169A (en) * | 2015-06-19 | 2015-09-30 | 浙江大学 | Method and system for measuring frequency characteristics of high-speed FOG (Fiber Optical Gyroscope) |
| CN105203132A (en) * | 2015-10-21 | 2015-12-30 | 中国矿业大学(北京) | Output frequency detection method of resonant mode vibrating gyro |
| CN106568463A (en) * | 2016-11-07 | 2017-04-19 | 中国航空工业集团公司洛阳电光设备研究所 | Angular vibration generating device used for gyro frequency characteristics, and gyro frequency measuring method |
| CN109061230A (en) * | 2018-08-30 | 2018-12-21 | 衡阳市衡山科学城科技创新研究院有限公司 | A kind of appraisal procedure and system of multiaxis detection circuit board crosstalk effect |
| CN109101008A (en) * | 2017-06-21 | 2018-12-28 | 上海电气风电集团有限公司 | The test method of delay is communicated and responded between main control PLC and current transformer |
| CN113237491A (en) * | 2021-04-22 | 2021-08-10 | 北京航天计量测试技术研究所 | Frequency characteristic testing device and method of digital gyroscope |
| CN115560742A (en) * | 2022-12-05 | 2023-01-03 | 中国船舶集团有限公司第七〇七研究所 | Modulation method for improving 3dB bandwidth of optical fiber gyroscope |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104950169A (en) * | 2015-06-19 | 2015-09-30 | 浙江大学 | Method and system for measuring frequency characteristics of high-speed FOG (Fiber Optical Gyroscope) |
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| CN106568463A (en) * | 2016-11-07 | 2017-04-19 | 中国航空工业集团公司洛阳电光设备研究所 | Angular vibration generating device used for gyro frequency characteristics, and gyro frequency measuring method |
| CN106568463B (en) * | 2016-11-07 | 2019-08-16 | 中国航空工业集团公司洛阳电光设备研究所 | Angular oscillation generating device and gyro frequency measurement method for gyro frequency characteristic |
| CN109101008A (en) * | 2017-06-21 | 2018-12-28 | 上海电气风电集团有限公司 | The test method of delay is communicated and responded between main control PLC and current transformer |
| CN109061230A (en) * | 2018-08-30 | 2018-12-21 | 衡阳市衡山科学城科技创新研究院有限公司 | A kind of appraisal procedure and system of multiaxis detection circuit board crosstalk effect |
| CN109061230B (en) * | 2018-08-30 | 2022-06-14 | 衡阳市衡山科学城科技创新研究院有限公司 | Method and system for evaluating crosstalk characteristics of multi-axis detection circuit board |
| CN113237491A (en) * | 2021-04-22 | 2021-08-10 | 北京航天计量测试技术研究所 | Frequency characteristic testing device and method of digital gyroscope |
| CN115560742A (en) * | 2022-12-05 | 2023-01-03 | 中国船舶集团有限公司第七〇七研究所 | Modulation method for improving 3dB bandwidth of optical fiber gyroscope |
| CN115560742B (en) * | 2022-12-05 | 2023-03-10 | 中国船舶集团有限公司第七〇七研究所 | Modulation method for improving 3dB bandwidth of fiber-optic gyroscope |
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Application publication date: 20150617 |