CN105466411B - Four axis fibre optic gyroscopes and its north finding method - Google Patents
Four axis fibre optic gyroscopes and its north finding method Download PDFInfo
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- CN105466411B CN105466411B CN201511024052.3A CN201511024052A CN105466411B CN 105466411 B CN105466411 B CN 105466411B CN 201511024052 A CN201511024052 A CN 201511024052A CN 105466411 B CN105466411 B CN 105466411B
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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
- G01C19/728—Assemblies for measuring along different axes, e.g. triads
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Abstract
The invention discloses a kind of four axis fibre optic gyroscopes and its north finding methods, belong to inertial navigation and its related field；The heretofore described four axis fibre optic gyroscopes for seeking north application, pass through four mutual fiber optic loops in 90 ° of horizontal axis while the rotational-angular velocity of the earth component of sensitive four axial directions, therefore the gyro can directly export north orientation information, no longer need the indexing mechanism in traditional north finder, it can effectively reduce and seek the northern time, improve north finding precision.
Description
Technical field
The present invention relates to inertial navigation and its related field, more particularly to a kind of four axis fibre optic gyroscopes and its seek the north
Method.
Background technology
Fiber gyro north seeker is a kind of azimuthal slewing device of measurement north orientation, have precision height, long lifespan,
The features such as simple in structure, the initial orientation for being widely used in battlebus or weapon aim at.
The optical fibre gyro used in fiber gyro north seeker is a kind of sensor of sensitive angular speed, and principle is to be based on
The fibre optic interferometer of optics Sagnac effects.The light channel structures of conventional fiber-optic gyroscopes as shown in Figure 1, when rotating, in
The annular interference light path in portion will produce a Sagnac phase shift for being proportional to turning rate, Sagnac phase shift φssagIt is revolved with system
The relationship of rotational speed rate is as follows：
ω is the angular frequency of light wave in formula, and c is the light velocity,What is indicated is area vector and the rotation for being closed light path respectively
The scalar product of rotational speed rate vector, stain are scalar product code.
In fiber gyro north seeker, the sensitive axes of optical fibre gyro are in the horizontal plane, and consistent with carrier y direction, lead to
Horizontal component of the sensitive earth rotation angular speed in geographic coordinate system is crossed, carrier vertical axis and the folder in geographical north can be calculated
Orientation where angle or directly determining north orientation.
Rotational-angular velocity of the earth vector ωe(ωe=15.04 °/h) be terrestrial coordinate system relative inertness coordinate system angle of rotation
Speed.The reality output expression formula of any point latitude on earth, optical fibre gyro is：
ω=k ωecosφcosH+ω0 (2)
In formula (1), k is optic fiber gyroscope graduation factor, and φ is the terrestrial latitude measured where place, ω0For gyroscopic drift,
H is angle by north, the i.e. angle of optical fibre gyro sensitive axes forward direction and real north.
In north finder design parameter, seeks the northern time and north finding precision is critically important parameter, it is desirable that after north finder starts
Accurate north orientation azimuth can be exported within the shortest time.It is sought in northern case in existing four position, needs indexing mechanism
Optical fibre gyro is driven, successively after signal acquisition is completed in four positions for being spaced 90 °, solves north orientation azimuth, indexing mechanism
Indexable process needs elapsed time, and northern efficiency is sought to reduce north finder；In addition, the position shifter error of indexing mechanism can also draw
Enter to seeking in northern result, to reduce the accuracy for seeking northern result.In this scheme, the indexable process of indexing mechanism is system
An important factor for about seeking northern time and north finding precision.
Invention content
Problem caused by indexable process, the present invention in northern case are sought for four positions, and a kind of four axis fibre optic gyroscopes are provided
And its north finding method, it realizes and is completed at the same time signal acquisition, and then directly calculation north orientation azimuth in four axial directions for being spaced 90 °
Working method, north finder using the present invention no longer needs indexing mechanism, can effectively reduce and seek the northern time, and northern essence is sought in raising
Degree.
In order to achieve the above object, technical solution used by this law is as follows：A kind of four axis fibre optic gyroscopes, including light
Source, 1 × 4 fiber coupler, the one 2 × 2nd fiber coupler, the 22 × 2nd fiber coupler, the 32 × 2nd fiber coupler,
42 × 2 fiber couplers, the first Y waveguide modulator, the second Y waveguide modulator, third Y waveguide modulator, the 4th Y waveguide tune
Device processed, the first fiber optic loop, the second fiber optic loop, third fiber optic loop, the 4th fiber optic loop, the first detector, the second detector, third are visited
Survey device, the 4th detector, the first subtracter, the second subtracter, signal processing module；
Wherein, the sensitive axes of first fiber optic loop, the sensitive axes of the second fiber optic loop, the sensitive axes of third fiber optic loop,
The sensitive axes of four fiber optic loops are in XY horizontal planes and the radial even circumferential distribution outwardly of each sensitive axis direction；
The output port of the light source connects the input port of 1 × 4 coupler；Four output ports of 1 × 4 coupler are distinguished
Connect the first input port of the one 2 × 2nd coupler, the first input port of the 22 × 2nd coupler, the 32 × 2nd coupler
The first input port of first input port, the 42 × 2nd coupler；Second input port of the one 2 × 2nd coupler connects first
The input port of detector；Second input port of the 22 × 2nd coupler connects the second detector input port；32 × 2nd coupling
Second input port of clutch connects the input port of third detector；Second input port of the 42 × 2nd coupler connects the 4th spy
Survey the input port of device；First output port of the one 2 × 2nd coupler connects the input port of the first Y waveguide modulator, and the one 2
The second output terminal mouth of × 2 couplers is in free state；First output port of the 22 × 2nd coupler connects the second Y waveguide tune
The second output terminal mouth of the input port of device processed, the 22 × 2nd coupler is in free state；The first of 32 × 2nd coupler
Output port connects the input port of third Y waveguide modulator, and the second output terminal mouth of the 32 × 2nd coupler is in free state；
First output port of the 42 × 2nd coupler connects the input port of the 4th Y waveguide modulator, and the second of the 42 × 2nd coupler
Output port is in free state；First output port of the first modulator connects the first input port of the first fiber optic loop, and first
The second output terminal mouth of modulator connects the second input port of the first fiber optic loop；First output port of the second modulator connects second
The second output terminal mouth of the first input port of fiber optic loop, the second modulator connects the second input port of the second fiber optic loop；Third
First output port of modulator connects the first input port of third fiber optic loop, and the second output terminal mouth of third modulator connects third
Second input port of fiber optic loop；First output port of the 4th modulator connects the first input port of the 4th fiber optic loop, and the 4th
The second output terminal mouth of modulator connects the second input port of the 4th fiber optic loop；The output port of first detector connects the first subtraction
The output port of the first input port of device, third detector connects the second input port of the first subtracter；Second detector
Output port connects the first input port of the second subtracter, and the output port of the 4th detector connects the second input of the second subtracter
Port；The digital output port of first subtracter is connected with the first input port of signal processing module, the number of the second subtracter
Word output port is connected with the second input port of signal processing module.
A kind of north finding method of four axis fibre optic gyroscope as described in claim 1, the specific method is as follows：
The light that light source is sent out is divided into etc. four tunnels of states by 1 × 4 fiber coupler, per all the way by 2 × 2 optical fiber
Coupler, Y waveguide modulator, fiber optic loop, detector constitute an independent Sagnac interference system, i.e. the first interference system by
One 2 × 2nd fiber coupler, the first Y waveguide modulator, the first fiber optic loop, the first detector composition, the second interference system is by the
22 × 2 fiber couplers, the second Y waveguide modulator, the second fiber optic loop, the second detector composition, third interference system is by third
2 × 2 fiber couplers, third Y waveguide modulator, third fiber optic loop, third detector composition, the 4th interference system is by the 4th 2
× 2 fiber couplers, the 4th Y waveguide modulator, the 4th fiber optic loop, the 4th detector composition；Then four road Sagnac interference systems
Output can be expressed as：
ω1=k ωecosφcosH+ω01 (1)
ω2=k ωecosφcos(H+90°)+ω02 (2)
ω3=k ωecosφcos(H+180°)+ω03 (3)
ω4=k ωecosφcos(H+270°)+ω04 (4)
In formula (1)-(4), ω1For the first interference system output quantity, ω2For the second interference system output quantity, ω3For third
Interference system output quantity, ω4For the 4th interference system output quantity, k is optic fiber gyroscope graduation factor, ωeIt is that terrestrial coordinate system is opposite
The rotational angular velocity of inertial coodinate system, φ are the terrestrial latitude measured where place, and H is angle by north, ω01、ω02、ω03、ω04
Respectively per the gyroscopic drift corresponding to the Sagnac interference systems of road, because in 4 road Sagnac interference systems, the device of selection
Performance is almost the same, and light path system is full symmetric, it is believed that：
ω01=ω02=ω03=ω04 (5)
Output end the first subtracter of access of first interference system, third interference system, the second interference system, the 4th interference
The output end of system accesses the second subtracter, obtained two subtracters output result such as following formula：
ω1-ω3=2k ωecosφcosH (6)
ω2-ω4=2k ωecosφcosH (7)
The output result of two subtracters is sent into signal processing module, after signal processing module acquires signal and filters,
Angle H by north can be calculated by following formula：
The beneficial effects of the invention are as follows：A kind of four axis optical fibre gyros for seeking north application are put forward for the first time, trunnion axis is passed through
To four mutual fiber optic loops in 90 ° sensitive four axial directions simultaneously rotational-angular velocity of the earth component, by signal processing module
North orientation information is directly exported after resolving, eliminates indexing mechanism.The index time and position shifter error that indexing mechanism is brought are avoided,
It reduces and seeks the northern time, improve north finding precision.
Description of the drawings
Fig. 1 is the light channel structure schematic diagram of traditional fiber gyro；
Fig. 2 is the light channel structure schematic diagram of the four axis fibre optic gyroscopes of the present invention；
Fig. 3 is the axial schematic diagram of fiber optic loop installation of the four axis fibre optic gyroscopes of the present invention；
In figure, light source 1,1 × 4 fiber coupler 2, the one 2 × 2nd fiber coupler 3, the 22 × 2nd fiber coupler 4,
32 × 2 fiber couplers 5, the 42 × 2nd fiber coupler 6, the first Y waveguide modulator 7, the second Y waveguide modulator 8, the 3rd Y
Waveguide modulator 9, the 4th Y waveguide modulator 10, the first fiber optic loop 11, the second fiber optic loop 12, third fiber optic loop 13, the 4th optical fiber
Ring 14, the first detector 15, the second detector 16, third detector 17, the 4th detector 18, the first subtracter 19, second subtract
Musical instruments used in a Buddhist or Taoist mass 20, signal processing module 21.
Specific implementation mode
The present invention is described in detail below according to attached drawing, the objects and effects of the present invention will be more apparent.
It is conventional fiber-optic gyroscopes internal structure shown in Fig. 1, the light that light source is sent out passes through after 2 × 2 couplers
Y waveguide modulator forms the opposite light of two beam clockwise, counterclockwise in fiber optic loop, and the interference light intensity of two-beam is by detector
Signal processing module is sent to after acquisition, the output result of signal processing module is proportional to the angular speed of optical fibre gyro rotation.
As shown in Fig. 2, the present invention include light source 1,1 × 4 fiber coupler 2, the one 2 × 2nd fiber coupler the 3, the 2nd 2 ×
2 fiber couplers 4, the 32 × 2nd fiber coupler 5, the 42 × 2nd fiber coupler 6, the first Y waveguide modulator 7, the 2nd Y waves
Lead modulator 8, third Y waveguide modulator 9, the 4th Y waveguide modulator 10, the first fiber optic loop 11, the second fiber optic loop 12, third light
Fine ring 13, the 4th fiber optic loop 14, the first detector 15, the second detector 16, third detector 17, the 4th detector 18, first
Subtracter 19, the second subtracter 20, signal processing module 21；
Wherein, there are four fiber optic loop, respectively the first fiber optic loop 11, the second fiber optic loop 12, third optical fiber for the optical fibre gyro
Ring 13, the 4th fiber optic loop 14, the four axis fibre optic gyroscopes of the present invention for seeking north application, to the structure of four fiber optic loops
Installation position is equipped with special requirement, such as Fig. 3, X-axis, Y-axis, Z axis scale space in, X-axis, Y-axis are horizontal direction, and Z axis is
Normal direction, the sensitive axes of the first fiber optic loop 11, the sensitive axes of the second fiber optic loop 12, the sensitive axes of third fiber optic loop 13, the 4th
The sensitive axes of fiber optic loop 14 in the same level that XY is indicated and are circularly and evenly distributed, the sensitivity of the first fiber optic loop 11
The axial direction of axis is Y-axis negative sense, and the axial direction of the sensitive axes of the second fiber optic loop 12 is that X-axis is positive, the sensitive axes of third fiber optic loop 13
Axial is that Y-axis is positive, and the axial direction of the sensitive axes of the 4th fiber optic loop 14 is X-axis negative sense, and four optical fiber ring axis are parallel with horizontal plane
And two neighboring mutually angle in 90 °, radial even circumferential distribution；Four optical fiber ring axis it is vertical with normal axis Z axis and
It is mutually 90 degree.
The output port of the light source 1 connects the input port of 1 × 4 coupler 2；Four output ports of 1 × 4 coupler 2
The first input port, the first input port of the 22 × 2nd coupler 4, the 32 × 2nd coupling of the one 2 × 2nd coupler 3 are connect respectively
The first input port of the first input port of clutch 5, the 42 × 2nd coupler 6；Second input terminal of the one 2 × 2nd coupler 3
Mouth connects the input port of the first detector 15；Second input port of the 22 × 2nd coupler 4 connects 16 input terminal of the second detector
Mouthful；Second input port of the 32 × 2nd coupler 5 connects the input port of third detector 17；The of 42 × 2nd coupler 6
Two input ports connect the input port of the 4th detector 18；First output port of the one 2 × 2nd coupler 3 connects the first Y waveguide tune
The second output terminal mouth of the input port of device 7 processed, the one 2 × 2nd coupler 3 is in free state；The of 22 × 2nd coupler 4
One output port connects the input port of the second Y waveguide modulator 8, and the second output terminal mouth of the 22 × 2nd coupler 4 is in freely
State；First output port of the 32 × 2nd coupler 5 connects the input port of third Y waveguide modulator 9, the 32 × 2nd coupler
5 second output terminal mouth is in free state；First output port of the 42 × 2nd coupler 6 connects the 4th Y waveguide modulator 10
Input port, the second output terminal mouth of the 42 × 2nd coupler 6 is in free state；First output end of the first modulator 7
Mouth connects the first input port of the first fiber optic loop 11, and the second output terminal mouth of the first modulator 7 connects the second of the first fiber optic loop 11
Input port；First output port of the second modulator 8 connects the first input port of the second fiber optic loop 12, the second modulator 8
Second output terminal mouth connects the second input port of the second fiber optic loop 12；First output port of third modulator 9 connects third optical fiber
The second output terminal mouth of the first input port of ring 13, third modulator 9 connects the second input port of third fiber optic loop 13；4th
First output port of modulator 10 connects the first input port of the 4th fiber optic loop 14, the second output terminal mouth of the 4th modulator 10
Connect the second input port of the 4th fiber optic loop 14；The output port of first detector 15 connects the first input end of the first subtracter 19
Mouthful, the output port of third detector 17 connects the second input port of the first subtracter 19；The output port of second detector 16
The first input port of the second subtracter 20 is connect, the output port of the 4th detector 18 connects the second input terminal of the second subtracter 20
Mouthful；The digital output port of first subtracter 19 is connected with the first input port of signal processing module 21, the second subtracter 20
Digital output port be connected with the second input port of signal processing module 21, signal processing module 21 resolve after directly export
Angle by north.The product of model TMS320C6727 may be used in the signal processing module 21, but not limited to this.
The heretofore described four axis fibre optic gyroscope operation principles for seeking north application are as follows：
The light that light source 1 is sent out is divided into etc. four tunnels of states by 1 × 4 fiber coupler 2, per all the way all respectively by 2 ×
2 fiber couplers, Y waveguide modulator, fiber optic loop, detector constitute an independent Sagnac interference system, i.e., the first interference
System is made of the one 2 × 2nd fiber coupler 3, the first Y waveguide modulator 7, the first fiber optic loop 11, the first detector 15, and second
Interference system is made of the 22 × 2nd fiber coupler 4, the second Y waveguide modulator 8, the second fiber optic loop 12, the second detector 16,
Third interference system is by the 32 × 2nd fiber coupler 5, third Y waveguide modulator 9, third fiber optic loop 13, third detector 17
Composition, the 4th interference system are visited by the 42 × 2nd fiber coupler 6, the 4th Y waveguide modulator 10, the 4th fiber optic loop the 14, the 4th
It surveys device 18 to form, mutual installation in 90 ° between the fiber optic loop sensitive axes of each interference system are parallel with horizontal plane and two connected, because
This, the output of four road Sagnac interference systems can be expressed as：
ω1=k ωecosφcosH+ω01 (1)
ω2=k ωecosφcos(H+90°)+ω02 (2)
ω3=k ωecosφcos(H+180°)+ω03 (3)
ω4=k ωecosφcos(H+270°)+ω04 (4)
In formula (1)-(4), ω1For the first interference system output quantity, ω2For the second interference system output quantity, ω3For third
Interference system output quantity, ω4For the 4th interference system output quantity, k is optic fiber gyroscope graduation factor, ωe(ωe=15.04 °/h)
It is the rotational angular velocity of terrestrial coordinate system relative inertness coordinate system, φ is the terrestrial latitude measured where place, and H is angle by north,
That is the angle of optical fibre gyro sensitive axes forward direction and real north, ω01、ω02、ω03、ω04Respectively per road Sagnac interference systems
Corresponding gyroscopic drift, because in 4 road Sagnac interference systems, the device performance of selection is almost the same, and light path system
It is full symmetric, it is believed that：
ω01=ω02=ω03=ω04 (5)
First interference system, third interference system output end access the first subtracter 19, it is the second interference system, the 4th dry
The output end for relating to system accesses the second subtracter 20, obtained two subtracters output result such as following formula：
ω1-ω3=2k ωecosφcosH (6)
ω2-ω4=2k ωecosφcosH (7)
The output result of two subtracters is sent into signal processing module 21, signal processing module 21 acquires signal and filters
Afterwards, angle H by north can be calculated by following formula：
Therefore, in four axis optical fibre gyro of the present invention, optical fibre gyro is mutually in 90 ° by four of horizontal axis
The rotational-angular velocity of the earth component of fiber optic loop while sensitive four axial directions, by the resolving of subtracter and internal signal processing module
Directly output seeks north as a result, avoiding problem caused by previously described addition indexing mechanism afterwards, reduces and seeks the northern time, carries
High north finding precision.
Claims (2)
1. a kind of four axis fibre optic gyroscopes, which is characterized in that including light source (1), 1 × 4 fiber coupler (2), the one 2 × 2nd light
Fine coupler (3), the 22 × 2nd fiber coupler (4), the 32 × 2nd fiber coupler (5), the 42 × 2nd fiber coupler
(6), the first Y waveguide modulator (7), the second Y waveguide modulator (8), third Y waveguide modulator (9), the 4th Y waveguide modulator
(10), the first fiber optic loop (11), the second fiber optic loop (12), third fiber optic loop (13), the 4th fiber optic loop (14), the first detector
(15), the second detector (16), third detector (17), the 4th detector (18), the first subtracter (19), the second subtracter
(20), signal processing module (21)；
Wherein, the sensitive axes of the sensitive axes, the second fiber optic loop (12) of first fiber optic loop (11), third fiber optic loop (13) it is quick
Sense axis, the 4th fiber optic loop (14) sensitive axes are in XY horizontal planes and each sensitive axis direction is radial outwardly is evenly distributed on
On circumference；
The output port of the light source (1) connects the input port of 1 × 4 coupler (2)；Four output ends of 1 × 4 coupler (2)
Mouth connects the first input port of the one 2 × 2nd coupler (3), the first input port of the 22 × 2nd coupler (4), the 3rd 2 respectively
The first input port of the first input port of × 2 couplers (5), the 42 × 2nd coupler (6)；One 2 × 2nd coupler (3)
The second input port connect the input ports of the first detector (15)；Second input port of the 22 × 2nd coupler (4) connects
Two detectors (16) input port；Second input port of the 32 × 2nd coupler (5) connects the input terminal of third detector (17)
Mouthful；Second input port of the 42 × 2nd coupler (6) connects the input port of the 4th detector (18)；One 2 × 2nd coupler
(3) the first output port connects the input port of the first Y waveguide modulator (7), the second output terminal of the one 2 × 2nd coupler (3)
Mouth is in free state；First output port of the 22 × 2nd coupler (4) connects the input port of the second Y waveguide modulator (8),
The second output terminal mouth of 22 × 2nd coupler (4) is in free state；First output port of the 32 × 2nd coupler (5) connects
The second output terminal mouth of the input port of third Y waveguide modulator (9), the 32 × 2nd coupler (5) is in free state；4th
First output port of 2 × 2 couplers (6) connects the input port of the 4th Y waveguide modulator (10), the 42 × 2nd coupler (6)
Second output terminal mouth be in free state；First output port of the first modulator (7) connects the first of the first fiber optic loop (11)
Input port, the second output terminal mouth of the first modulator (7) connect the second input port of the first fiber optic loop (11)；Second modulator
(8) the first output port connects the first input port of the second fiber optic loop (12), and the second output terminal mouth of the second modulator (8) connects
Second input port of the second fiber optic loop (12)；First output port of third modulator (9) connects the of third fiber optic loop (13)
One input port, the second output terminal mouth of third modulator (9) connect the second input port of third fiber optic loop (13)；4th modulation
First output port of device (10) connects the first input port of the 4th fiber optic loop (14), the second output terminal of the 4th modulator (10)
Mouth connects the second input port of the 4th fiber optic loop (14)；The output port of first detector (15) connects the of the first subtracter (19)
One input port, the output port of third detector (17) connect the second input port of the first subtracter (19)；Second detector
(16) output port connects the first input port of the second subtracter (20), and the output port of the 4th detector (18) connects second and subtracts
Second input port of musical instruments used in a Buddhist or Taoist mass (20)；The first of the digital output port of first subtracter (19) and signal processing module (21) is defeated
Inbound port is connected, and the digital output port of the second subtracter (20) is connected with the second input port of signal processing module (21).
2. a kind of north finding method of four axis fibre optic gyroscope as described in claim 1, which is characterized in that the specific method is as follows：
The light that light source (1) is sent out is divided into etc. four tunnels of states by 1 × 4 fiber coupler (2), per all the way by 2 × 2 light
Fine coupler, Y waveguide modulator, fiber optic loop, detector constitute an independent Sagnac interference system, i.e. the first interference system
It is made of the one 2 × 2nd fiber coupler (3), the first Y waveguide modulator (7), the first fiber optic loop (11), the first detector (15),
Second interference system is visited by the 22 × 2nd fiber coupler (4), the second Y waveguide modulator (8), the second fiber optic loop (12), second
It surveys device (16) to form, third interference system is by the 32 × 2nd fiber coupler (5), third Y waveguide modulator (9), third optical fiber
Ring (13), third detector (17) composition, the 4th interference system is by the 42 × 2nd fiber coupler (6), the 4th Y waveguide modulator
(10), the 4th fiber optic loop (14), the 4th detector (18) composition；Then the output of four road Sagnac interference systems can indicate respectively
For：
ω1=k ωecosφcosH+ω01 (1)
ω2=k ωecosφcos(H+90°)+ω02 (2)
ω3=k ωecosφcos(H+180°)+ω03 (3)
ω4=k ωecosφcos(H+270°)+ω04 (4)
In formula (1)-(4), ω1For the first interference system output quantity, ω2For the second interference system output quantity, ω3Interfere for third
System output amount, ω4For the 4th interference system output quantity, k is optic fiber gyroscope graduation factor, ωeIt is terrestrial coordinate system relative inertness
The rotational angular velocity of coordinate system, φ are the terrestrial latitude measured where place, and H is angle by north, ω01、ω02、ω03、ω04Respectively
For the gyroscopic drift corresponding to every road Sagnac interference systems, because in 4 road Sagnac interference systems, the device performance of selection
It is almost the same, and light path system is full symmetric, it is believed that：
ω01=ω02=ω03=ω04 (5)
Output end the first subtracter of access (19) of first interference system, third interference system, the second interference system, the 4th interference
The output end of system accesses the second subtracter (20), obtained two subtracters output result such as following formula：
ω1-ω3=2k ωecosφcosH (6)
ω2-ω4=2k ωecosφcosH (7)
The output result of two subtracters is sent into signal processing module (21), signal processing module (21) acquisition signal simultaneously filters
Afterwards, angle H by north can be calculated by following formula：
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| EP3631361A4 (en) * | 2017-05-30 | 2021-02-24 | California Institute of Technology | Integrated optical gyroscope with noise cancellation |
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