CN105698820B - A kind of laser gyro cavity translatory mirror shakes deformation active compensation device - Google Patents
A kind of laser gyro cavity translatory mirror shakes deformation active compensation device Download PDFInfo
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- CN105698820B CN105698820B CN201610055265.0A CN201610055265A CN105698820B CN 105698820 B CN105698820 B CN 105698820B CN 201610055265 A CN201610055265 A CN 201610055265A CN 105698820 B CN105698820 B CN 105698820B
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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
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Abstract
A kind of laser gyro cavity translatory mirror shakes deformation active compensation device, including error processing circuitry, analog-digital converter, controller, digital analog converter, phase-shift circuit, multiplier, summing circuit, the light intensity signal of laser gyro output or orthogonal count signal are handled to obtain the error signal for representing jitter modulation, controller adjusts the amplitude of dither feedback signal according to the error signal and phase obtains shake deformation Active Compensation signal, shake deformation Active Compensation signal controls the chamber translatory mirror of laser gyro after growing control voltage superposition with chamber, the laser gyro change of cavity length and due to chamber translatory mirror radial direction deformation caused by mechanical shaking caused by compensation thermal expansion and thermal deformation, so as to gyro change of cavity length caused by mechanical shaking is reduced or eliminated, improve the precision of laser gyro.The present invention does not change the existing structure of laser gyro, only carries out Active Compensation to chamber translatory mirror radial direction deformation caused by mechanical shaking by electronic circuit and signal processing, and implementation cost is low.
Description
Technical field
The present invention relates to laser gyroes, refer in particular to a kind of laser gyro cavity translatory mirror shake deformation active compensation device, are used for
Gyro radial direction change of cavity length caused by mechanical shaking is reduced or eliminated.
Background technology
Ring laser gyro is with wide dynamic range, the scale factor linearity is good, it is rapid, insensitive etc. to acceleration to start
Series of advantages is the ideal element of strap-down inertial system, is widely used in the fields such as navigation, Aeronautics and Astronautics and land.
Laser gyro can eliminate locking there is latch-up phenomenon using mechanical shaking offset frequency.One typical machinery is trembled
Dynamic offset frequency laser gyro is triangle or square configuration, includes three pieces or four speculums.Fig. 1 is the mechanical shaking of square configuration
Offset frequency laser gyro structure diagram, two panels movable mirror 2,3 and two panels fixed mirror 4,5 form laser with square devitrified glass cavity 1
Resonator, intracavitary generate the laser that two beams are run in opposite directions.2,3 outside of two panels movable mirror is stained with piezoelectric ceramics (PZT), changes piezoelectricity
Voltage on ceramics can generate stretching motion, movable mirror 2,3 be driven to be axially moveable, so that gyro resonator long hair changes
Change.Movable mirror, piezoelectric ceramics and its component composition chamber translatory mirror (or the long control mechanism of chamber, the long control mechanism of journey, frequency regulator).
Laser gyro can cause the variation of total chamber length due to the thermal expansion and thermal deformation of cavity in the process of running, for stabilized lasers frequency
Rate is, it is necessary to which to stablize total chamber using chamber translatory mirror long.
Photodiode 7 is bonded on the light-combining prism of fixed mirror 4, for export the orthogonal gyro count signal A of two-way,
B, photodiode 8 are bonded on fixed mirror 5 for output intensity signal LIM, and LIM can be used for light intensity to monitor or be used as chamber long
The feed back input of control circuit.The center that wheel 6 is mounted on devitrified glass cavity 1 is trembled, trembles and PZT pieces is posted on the spoke of wheel,
Trembling wheel by the driving of PZT pieces drives cavity to generate slightly quick oscillation exchange, so as to add in a positive and negative friendship to gyro
The Dithered of change eliminates gyro latch up effect.
Tremble wheel drive cavity slightly quick oscillation exchange while, chamber translatory mirror also generates identical movement, shows as chamber
Translatory mirror is subject to alternation inertia force.Gyro shake amplitude θ be usually 200~600 rads, chattering frequency f for 300Hz~
1000Hz, shake angular acceleration a=θ (2 π f)2Very big, the tangential acceleration at chamber translatory mirror 3 is also very big, accordingly
Chamber translatory mirror will bear very big alternation inertia force.Since the rigidity of chamber translatory mirror is small compared with devitrified glass cavity 1, and its each component
Rigidity it is also different, therefore chamber translatory mirror necessarily leads to tangential deformation X, simultaneously because some non-ideal factors of chamber translatory mirror
It can cause radial direction deformation Y.Radial direction deformation makes resonator cavity length modulated, and precision frequency stabilization is caused to decline, gyro performance is generated
It influences, gyro output intensity LIM can be modulated with the amplitude of orthogonal count signal A, B, modulating frequency and chattering frequency phase
It closes, modulation amplitude is related with radial direction deformation, and radial direction deformation is bigger, and amplitude modulation is bigger.Mechanical shaking feedback signal UdAnd shake
Gyro output A under modulation is as shown in Figure 2, it is seen that the modulation that the amplitude of gyro output A is shaken, gyro output B is similar, together
When light intensity signal LIM can also be subject to jitter modulation.Jitter modulation causes gyro hydraulic performance decline.
At present, there is the long control circuit of mating chamber (frequency stabilization circuit) when laser gyro works normally, it is swollen for compensating heat
The variation that chamber caused by swollen and thermal deformation is grown.The specific schematic diagram of the long control circuit of chamber is as shown in figure 3, the light of photodiode output
Strong LIM is input to the long control circuit 1 of chamber, and the long control circuit 1 of chamber exports corresponding chamber length control according to the variation of light intensity signal LIM
Voltage VPLCGyro change of cavity length caused by being added to chamber translatory mirror after the amplification of voltage amplifier 2 to compensate thermal deformation.But due to chamber
The frequency response of long control circuit is generally significantly less than mechanical shaking frequency, and chamber translatory mirror radial direction deformation caused by mechanical shaking and
Gyro chamber length be with chattering frequency dynamic change, thus can not the long control circuit of transit chamber to chamber translatory mirror caused by mechanical shaking
Radial direction deformation and gyro change of cavity length compensate；For chamber translatory mirror deformation caused by reducing mechanical shaking and its to gyro
Can influence, the common practices under the prior art is optimization chamber translatory mirror structure design, increases the chamber translatory mirror rigidity of structure, be stranded
Difficulty is to need to change the existing structure of gyro, of high cost.
The content of the invention
The purpose of the present invention is：A kind of laser gyro cavity translatory mirror shake deformation active compensation device is provided, it can be in laser
On the basis of gyro existing structure, by electronic circuit and signal processing to chamber translatory mirror radial direction deformation caused by mechanical shaking into
Row Active Compensation, gyro change of cavity length caused by mechanical shaking is reduced or eliminated, so as to improve laser gyro precision.
To realize the present invention and use technical solution be：
Laser gyro cavity translatory mirror shakes deformation active compensation device, including the long control circuit of chamber, it is characterised in that：Also wrap
It includes：Error processing circuitry (10), analog-digital converter (20), digital analog converter (40), phase-shift circuit (50), multiply controller (30)
Musical instruments used in a Buddhist or Taoist mass (60), summing circuit (70)；Error processing circuitry (10) receives the light intensity signal of laser gyro, and output error voltage passes through
Analog-digital converter (20) is passed to controller (30)；Mechanical shaking feedback signal after the phase-shift circuit (50) phase shift with controller
(30) trembling for amplitude and phase-adjustable is obtained through multiplier (60) multiplication by the compensation controlled quentity controlled variable that digital analog converter (40) exports
Dynamic deformation Active Compensation signal, the signal and original latter chamber translation with to laser gyro of existing chamber length control voltage superposition
Mirror is controlled, and is compensated while laser gyro change of cavity length caused by compensating thermal expansion and thermal deformation since mechanical shaking is led
The chamber translatory mirror radial direction deformation of cause, so as to gyro change of cavity length caused by mechanical shaking is reduced or eliminated.
The error processing circuitry (10) handles to obtain error voltage to gyro output intensity or orthogonal count signal.
The amplitude and phase of adjustment shake deformation Active Compensation signal make error voltage most I that machinery be reduced or eliminated to tremble
Chamber translatory mirror radial direction deformation and gyro change of cavity length caused by dynamic.
The controller (30) is the controller that laser gyro carries or additional increased controller.
The error processing circuitry (10) be made of bandpass filter (11) and AC/DC converting circuit (12) or by
Envelope detector (13) and AC/DC converting circuit (13) composition.
The controller (30) is microcontroller, FPGA or DSP.
The AC/DC converting circuit (12) is that the ac/dc being made of the chip of model AD736 converts electricity
Road.
The phase-shift circuit (50) is the multiterminal feedback all-pass filter for including operational amplifier, resistance and capacitance, is led to
It crosses and changes the value of resistance and capacitance so as to change the angle of phase shift.
The envelope detection circuit (13) is the circuit for including amplitude modulation resistance and amplitude modulation capacitance.
The advantage of the invention is that：
The present invention does not change the existing structure of laser gyro, and only mechanical shaking is caused by electronic circuit and signal processing
The deformation of chamber translatory mirror radial direction carry out Active Compensation, improve laser gyro precision, while implementation cost is low.
Description of the drawings
Fig. 1 is the mechanical shaking offset frequency laser gyro structure diagram of square configuration.
Fig. 2 is the gyro output count signal A oscillograms under mechanical shaking feedback signal and jitter modulation.
Fig. 3 is the long control circuit schematic diagram of laser gyro cavity of background technology.
Fig. 4 is the structure diagram of first case laser gyro cavity translatory mirror shake deformation active compensation device of the present invention.
Fig. 5 is the structure diagram of second case laser gyro cavity translatory mirror shake deformation active compensation device of the present invention.
Fig. 6 is the circuit diagram of the specific embodiment of the AC/DC converting circuit of the present invention.
Fig. 7 is the circuit diagram of the specific embodiment of the phase-shift circuit of the present invention.
Fig. 8 is the circuit diagram of the specific embodiment of the multiplier circuit of the present invention.
Fig. 9 is the circuit diagram of the specific embodiment of the envelope detection circuit of the present invention.
Figure 10 is the circuit diagram of the specific embodiment of the summing circuit of the present invention.
Specific embodiment
The present invention is described in further details below with reference to specific embodiment and Figure of description.
As shown in figure 4, first case laser gyro cavity translatory mirror shake deformation active compensation device of the present invention is included at error
Manage circuit 10, analog-digital converter 20, controller 30, digital analog converter 40, phase-shift circuit 50, multiplier 60, summing circuit 70.Institute
Stating error processing circuitry 10 includes bandpass filter 11 and AC/DC converting circuit 12.The controller 20 for microcontroller,
Existing controller in laser gyro support circuit may be employed in FPGA or DSP, can also additionally increase a controller.
20 preferred resolution of analog-digital converter is 10 or 10 or more, analog-to-digital conversion core of the conversion speed per second more than 100 times
Piece.40 preferred resolution of digital analog converter is 10 or 10 or more, digital-to-analogue conversion of the conversion speed per second more than 100 times
Chip.The long control circuit 1 of Fig. 4 lumens belongs to the support circuit needed for laser gyro normal work, Ke Yishi with voltage amplifier 2
The existing any type of circuit that can meet chamber length control needs.
In this embodiment, the light intensity of the photodiode detection laser gyro of laser gyro, output intensity signal LIM,
The light intensity signal is input to the long control circuit 1 of chamber and error processing circuitry 10 simultaneously.Light intensity signal is input to chamber length control all the way
After circuit 1, the long controlled quentity controlled variable V of chamber is formedPLC, mended for change of cavity length caused by the thermal expansion and thermal deformation to laser gyro
It repays.Another way light intensity signal LIM is input to the bandwidth-limited circuit 11 of error processing circuitry 10, the centre frequency of bandpass filter
It being necessarily arranged to approach with mechanical shaking frequency, output error signal err reflects mechanical shaking and the amplitude of light intensity is modulated,
The error signal is converted to direct-flow error voltage V by AC/DC converting circuit 12err.Direct-flow error voltage VerrTurn through modulus
Parallel operation 20 is converted into digital signal and is input in controller 30, and controller is calculated according to the size of the error voltage and actively mends
Repay controlled quentity controlled variable Vc, Active Compensation controlled quentity controlled variable VcIt is exported through digital analog converter 40.
Characterize the dither feedback signal U of mechanical shaking amplitude and frequencydIt is obtained after 50 phase shift angle θ of phase-shift circuit
Udθ, the dither feedback signal U after phase shiftdθMultiplier 60 is sent into, with Active Compensation controlled quentity controlled variable VcMultiplication obtains the shake of chamber translatory mirror
Deformation Active Compensation signal UCOMP.Multiplier 60 exports UCOMP=SUdθ·Vc, wherein S is the scale factor of multiplier, therefore
Change compensation controlled quentity controlled variable VcShake deformation Active Compensation signal U can be changedCOMPAmplitude, change the phase shift angle θ of phase-shift circuit
Shake deformation Active Compensation signal U can be changedCOMPPhase.The method of determination of the phase shift angle θ of phase-shift circuit is as follows：It keeps
Compensate controlled quentity controlled variable VcShake deformation Active Compensation signal U that is constant, being correspondingly added on chamber translatory mirrorCOMPAmplitude is constant, changes
The value of phase shift angle θ makes error voltage VerrMinimum angle, θ is required phase shift angle.
Chamber length control voltage VPLCWith shaking deformation Active Compensation signal UCOMPIt is added through summing circuit 70, voltage amplifier 2
Amplify latter with being added to chamber translatory mirror, lumen length control voltage VPLCChange of cavity length caused by compensating thermal expansion and thermal deformation, is trembled
Dynamic deformation Active Compensation signal UCOMPChamber translatory mirror radial direction deformation and gyro change of cavity length caused by compensating mechanical shaking.
The process compensated according to the shake deformation of laser gyro cavity translatory mirror as described above, it can be seen that error voltage
VerrSize and Active Compensation controlled quentity controlled variable VcSize it is directly related, therefore the purpose of controller is that calculating Active Compensation
Controlled quentity controlled variable VcSize so that error voltage VerrIt is minimum.One optional control strategy is：Fix an incremental voltage value
Δ V, controller export an initial Active Compensation controlled quentity controlled variable Vc, then make the Active Compensation controlled quentity controlled variable of next controlling cycle
VcIncrease K Δ V, wherein K initial values are 1, the error voltage V after then controller detection changeserr：If VerrBecome smaller then K
It is constant, if instead VerrBecome larger, change the symbol of K, this process of repetition, which can be found, makes VerrMinimum control voltage Vc, this
When Active Compensation signal the influence that mechanical shaking grows chamber translatory mirror radial direction deformation and gyro chamber is minimized.
As shown in figure 5, second case laser gyro cavity translatory mirror shake deformation active compensation device of the present invention is included at error
Manage circuit 10, analog-digital converter 20, controller 30, digital analog converter 40, phase-shift circuit 50, multiplier 60, summing circuit 70.Institute
Stating error processing circuitry 10 includes envelope detection circuit 13 and AC/DC converting circuit 12.The controller 20 for microcontroller,
Existing controller in laser gyro support circuit may be employed in FPGA or DSP, can also additionally increase a controller.
20 preferred resolution of analog-digital converter is 10 or 10 or more, analog-to-digital conversion core of the conversion speed per second more than 100 times
Piece.40 preferred resolution of digital analog converter is 10 or 10 or more, digital-to-analogue conversion of the conversion speed per second more than 100 times
Chip.The long control circuit 1 of Fig. 5 lumens belongs to the support circuit needed for laser gyro normal work, Ke Yishi with voltage amplifier 2
The existing any type of circuit that can meet chamber length control needs.
In this embodiment, laser gyro light intensity signal LIM is input to the long control circuit 1 of chamber, forms chamber length control voltage
VPLC, compensated for change of cavity length caused by the thermal expansion and thermal deformation to laser gyro.Laser gyro orthogonal signalling A (or
B the envelope detection circuit 13 of error processing circuitry 10) is input to, 13 output error signal err of envelope detection circuit reflects machine
Tool, which is shaken, modulates the amplitude of light intensity, which is converted to direct-flow error voltage V by AC/DC converting circuit 12err。
Direct-flow error voltage VerrDigital signal is converted into through analog-digital converter 20 and is input to controller 30, and controller 30 is used and implemented
Identical method obtains shake deformation Active Compensation signal U in example oneCOMP, then grown with chamber and control voltage VPLCSuperposition is formed final
Controlled quentity controlled variable the chamber translatory mirror of laser gyro is controlled.
As shown in fig. 6, the circuit diagram of the specific embodiment for the AC/DC converting circuit 12 of the present invention：At this
In embodiment, AC/DC converting circuit is completed using the virtual value chip of model AD736.Bandpass filter 11 or envelope
The output error signal err of wave detector 13 is input to No. 2 pins of AD736 chips, and 7 feet of chip are connected with power supply+15V, 4 feet
It is connected with power supply -15V, 1 foot and 8 feet are grounded, and 5 feet pass through capacitance CavIt is connected with 4 feet, 6 foot of chip output VerrFor DC voltage,
Its value is equal to the virtual value of input err, reflects mechanical shaking and the amplitude of light intensity is modulated.
As shown in fig. 7, the circuit diagram of the specific embodiment for the phase-shift circuit of the present invention：In this embodiment, move
The multiterminal that circuitry phase is operational amplifier, resistance and capacitance form feed back all-pass filter.The resistance value of resistance R2 is resistance in figure
The a quarter of the resistance value of R1, resistance R3 is identical with the resistance value of resistance R4, is twice of the resistance value of resistance R1；Capacitance C1 and C2
Capacitance it is identical.The size of phase shift angle θ can be changed by changing the resistance value of resistance or the capacitance of capacitance in circuit.In laser gyro
In the course of work of the shake deformation compensating mechanism of chamber translatory mirror, the phase shift angle θ of above-mentioned phase-shift circuit can be in device the
It is once corrected during power-up initializing or can also be in each power-up initializing by controller adjust automatically.It is right
In the situation by controller adjust automatically, then need to use digital regulation resistance that resistance is replaced to ensure controller for phase shift angle
The adjustment of θ.
As shown in figure 8, the circuit diagram of the specific embodiment for the multiplier of the present invention：In this embodiment, multiplication
Device is formed using the multiplier chip of model AD633；1 foot and 3 feet of chip input Active Compensation controlled quentity controlled variable V respectivelycAnd shifting
Dither feedback signal U after phasedθ；Pin 2, pin 4 and the pin 6 of chip are directly grounded；5 feet of chip connect with power supply -15V
It connects, while is grounded by the filter capacitor of a 0.1uF；8 feet of chip are connected with power supply+15V, while pass through a 0.1uF
Filter capacitor ground connection；7 output signal U of output pin of chipCOMP=0.1Udθ·Vc。
As shown in figure 9, the circuit diagram of the specific embodiment for the envelope detection circuit of the present invention：In the embodiment
In, envelope detection circuit is made of diode D1, filter capacitor C1, filter resistance R1 and isolation capacitance C2；The input terminal of circuit
Laser gyro orthogonal signalling A or B are met, circuit output end is error signal e rr, reflects amplitude tune of the mechanical shaking to light intensity
System.Selection C1, R1 allow am signals by and being filtered out higher than the carrier signal of chattering frequency, C2 is for isolating
Direct current signal.
As shown in Figure 10, for the present invention summing circuit specific embodiment circuit diagram：In this embodiment, it is electric
It is identical to hinder the resistance value of R1, R2, R3, R4, chamber length control voltage VPLCConnecting resistance R1, shake deformation Active Compensation signal UCOMPConnect electricity
Hinder R2.Export VOUTFor VPLCWith UCOMPThe sum of.
In conclusion the present invention is due to the light intensity signal or orthogonal that by the way of Active Compensation, laser gyro is exported
Count signal is handled to obtain the error signal for representing jitter modulation, and controller adjusts shake feedback letter according to the error signal
Number amplitude and phase obtain shake deformation Active Compensation signal, shake deformation Active Compensation signal is controlled with original existing chamber length
The latter chamber translatory mirror with to laser gyro of voltage superposition processed controls, the laser top caused by compensation thermal expansion and thermal deformation
Compensation is due to chamber translatory mirror radial direction deformation caused by mechanical shaking while spiral shell change of cavity length, so as to which mechanical shaking be reduced or eliminated
Caused gyro change of cavity length improves the precision of laser gyro；The present invention does not change the existing structure of laser gyro, only passes through
Electronic circuit and signal processing carry out Active Compensation to chamber translatory mirror radial direction deformation caused by mechanical shaking, and implementation cost is low.
Claims (9)
1. a kind of laser gyro cavity translatory mirror shakes deformation active compensation device, including the long control circuit of chamber, it is characterised in that：Also
Including：Error processing circuitry (10), analog-digital converter (20), controller (30), digital analog converter (40), phase-shift circuit (50),
Multiplier (60), summing circuit (70)；Error processing circuitry（10）The light intensity signal of laser gyro is received, output error voltage leads to
Cross analog-digital converter（20）Incoming controller（30）；Mechanical shaking feedback signal is through the phase-shift circuit（50）After phase shift with control
Device（30）Pass through digital analog converter（40）The compensation controlled quentity controlled variable of output is through multiplier（60）It is multiplied and obtains amplitude and phase-adjustable
Deformation Active Compensation signal is shaken, which puts down with original existing chamber length control latter chamber with to laser gyro of voltage superposition
It moves mirror to be controlled, compensation is due to mechanical shaking while laser gyro change of cavity length caused by compensating thermal expansion and thermal deformation
Caused chamber translatory mirror radial direction deformation, so as to gyro change of cavity length caused by mechanical shaking is reduced or eliminated.
2. laser gyro cavity translatory mirror according to claim 1 shakes deformation active compensation device, it is characterised in that：It is described
Error processing circuitry（10）Gyro output intensity or orthogonal count signal are handled to obtain error voltage.
3. laser gyro cavity translatory mirror according to claim 1 shakes deformation active compensation device, it is characterised in that：Adjustment
Shake deformation Active Compensation signal amplitude and phase make error voltage most I mechanical shaking is reduced or eliminated caused by chamber put down
Move the deformation of mirror radial direction and gyro change of cavity length.
4. laser gyro cavity translatory mirror according to claim 1 shakes deformation active compensation device, it is characterised in that：It is described
Controller（30）The controller or additional increased controller carried for laser gyro.
5. the laser gyro cavity translatory mirror shake deformation active compensation device according to one of claim 1 ~ 4, feature exist
In：The error processing circuitry（10）By bandpass filter（11）And AC/DC converting circuit（12）Composition is examined by envelope
Ripple device（13）And AC/DC converting circuit（12）Composition.
6. the laser gyro cavity translatory mirror shake deformation active compensation device according to one of claim 1 ~ 4, feature exist
In：The controller（30）For microcontroller, FPGA or DSP.
7. laser gyro cavity translatory mirror according to claim 5 shakes deformation active compensation device, it is characterised in that：It is described
AC/DC converting circuit（12）For the AC/DC converting circuit being made of the chip of model AD736.
8. the laser gyro cavity translatory mirror shake deformation active compensation device according to one of claim 1 ~ 4, feature exist
In：The phase-shift circuit（50）It is the multiterminal feedback all-pass filter for including operational amplifier, resistance and capacitance, passes through change
The value of resistance and capacitance is so as to changing the angle of phase shift.
9. laser gyro cavity translatory mirror according to claim 5 shakes deformation active compensation device, it is characterised in that：It is described
Envelope detector（13）It is the circuit for including amplitude modulation resistance and amplitude modulation capacitance.
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| CN113188535A (en) * | 2021-05-27 | 2021-07-30 | 湖南二零八先进科技有限公司 | Laser gyroscope jitter offset frequency control device and method based on frequency modulation |
| CN117367400B (en) * | 2023-12-04 | 2024-03-05 | 江西驰宇光电科技发展有限公司 | Laser frequency stabilization method based on resonant cavity path length adjustment and laser gyro |
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