CN106403994B - A kind of automatic debugging device and method of closed-loop fiber optic gyroscope parameter - Google Patents
A kind of automatic debugging device and method of closed-loop fiber optic gyroscope parameter Download PDFInfo
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Abstract
The invention belongs to closed-loop fiber optic gyroscope control technologies, and in particular to a kind of automatic debugging device and method of closed-loop fiber optic gyroscope parameter.The present invention realizes the generation of tuning parameter and gyro fpga logic to be adjusted in conjunction with fifo buffer different frequencies reading/writing method and processor by the way that partial step wave modulated signal and tri-state modulated signal to be sequentially applied on integrated optical modulator to the fitting of gyro response signal, average etc..Optical fibre gyro debugging efficiency can be greatly improved by the debugging apparatus and method, reduces debugging cost, while promoting the objectivity and accuracy of tuning parameter.
Description
Technical field
The invention belongs to closed-loop fiber optic gyroscope control technologies, and in particular to a kind of automatic debugging of closed-loop fiber optic gyroscope parameter
Device and method.
Background technique
Closed-loop fiber optic gyroscope debugging process is very important link in gyro production procedure, tuning parameter it is accurate whether
Directly affect the performance of optical fibre gyro.Optical fibre gyro tuning parameter specifically includes that eigenfrequency, 2 π voltage of integrated optical modulator
And axial three parameters of gyro.The tuning parameter acquisition methods that the existing mainstream gyro production process in the country is taken are that downloading is solid respectively
Staircase waveform logic, 2 π voltages debugging logic and normal gyro acquisition logic are determined to obtain three parameters of optical fibre gyro, and
Need by digital oscilloscope carry out gyro eigenfrequency and 2 π voltage of integrated optical modulator measurement, the accuracy of measurement and
Objectivity not can guarantee, and there are large errors.Existing patent also refers to adopt using square-wave frequency modulation or sawtooth period traversal
The method of sample and demodulation scheme on-line measurement gyro eigenfrequency, but program demodulating process is complicated and time-consuming relatively long, and
Gyro eigenfrequency single parameter can only be measured, gyro volume production is unfavorable for.
Summary of the invention
The object of the present invention is to provide one kind in the case where not adding the peripheral hardwares such as oscillograph, automatic disposable generation light
The closed-loop fiber optic gyroscope parameter of axial three tuning parameters of fine gyro eigenfrequency, 2 π voltage of integrated optical modulator and gyro
Automatic debugging device and method.
Technical solution of the present invention: optical fibre gyro parameter automatic debugging device comprising preamplifier 6, analog-to-digital conversion
Device 7, serial digital to analog converter 9, digital analog converter 10, processor 11, rate information demodulator 12, integrated optical modulator 2 π electricity
Press demodulator 13, tri-state modulated signal generator 14, partial step wave signal generator 15, fifo buffer 16, modulus
Converter clock generator 17, tranmitting data register generator 18, wherein preamplifier 6, analog-digital converter 7, rate information demodulation
Device 12,2 π voltage demodulator 13 of integrated optical modulator, serial digital to analog converter 9, digital analog converter 10 are sequentially connected with, tri-state tune
Signal generator 14 processed is arranged between 2 π voltage demodulator 13 of digital analog converter 10 and integrated optical modulator, partial step wave
Signal generator 15 is connected on digital analog converter 10, and analog-digital converter 7 passes through fifo buffer 16 and 11 phase of processor
Even, rate information demodulator 12 is connected with processor 11, and 2 π voltage demodulator 13 of integrated optical modulator is connected with processor 11,
Tranmitting data register generator 18 is arranged between processor 11 and fifo buffer 16, and analog-digital converter clock generator 17 is set
It sets between analog-digital converter 7 and fifo buffer 16, and 6 reception optical fiber gyro photodetector 5 of preamplifier is sent out
Signal out, digital analog converter 10 are connect with the integrated optical modulator 3 of optical fibre gyro.
Rate information demodulator 12,2 π voltage demodulator 13 of integrated optical modulator, tri-state modulated signal generator 14, portion
Divide staircase waveform signal generator 15, fifo buffer 16, analog-digital converter clock generator 17, tranmitting data register generator 18
It is integrated on FPGA8.
A kind of automatic adjustment method of optical fibre gyro parameter based on the optical fibre gyro parameter automatic debugging device, digital-to-analogue
The FPGA digital modulation signals generated are converted to analog signal by converter, and are applied on integrated optical modulator, completion portion
Sublevel step modulation, in conjunction with fifo buffer different frequencies reading/writing method realize to optical fibre gyro characteristic frequency parameter from
Dynamic debugging；Serial digital to analog converter realizes the control of logarithmic mode converter reference voltage, modulates in conjunction with tri-state and realizes integrated optics
The automatic debugging of 2 π voltage parameter of modulator and axial parameter.
The automatic adjustment method of optical fibre gyro parameter, the automatic debugging process of eigenfrequency parameter are as follows:
A, partial step wave signal generator generates fixed stepping step signal, which originates code value and produce in staircase waveform
Near raw device maximum code value, it is incremented by since code value 0 automatically when reaching maximum code value；
B, analog-digital converter converts photo detector signal, and is delayed data feeding first in, first out with sampling clock
It is stored in storage；
C, after fifo buffer stores partial step wave data modulation period, processor is to communicate clock reception
The data stored in fifo buffer；
D, pulse position in processor Automatic-searching signal carries out pulse signal fitting of a polynomial and by repeatedly measuring
To accurate gyro eigenfrequency parameter, corresponding FPGA frequency division parameter is generated；
E, FPGA receives the frequency division parameter of corresponding eigenfrequency, generates the tri-state modulation letter that frequency is equal to 2 times of eigenfrequencies
Number.
The automatic adjustment method of optical fibre gyro parameter, the 2 automatic debugging process of π voltage parameter of integrated optical modulator
It is as follows:
A, ternary signal generator generates the tri-state modulated signal that frequency is equal to 2 times of eigenfrequencies, integrated optical modulator 2
π voltage demodulator demodulates tri-state modulated signal the 2nd and the corresponding signal of three state, obtains 2 π voltage errors；
B, 2 π voltage demodulator of integrated optical modulator generates 2 π voltage error feedback quantities and adjusts serial digital to analog converter
Output, to adjust the modulated signal amplitude that digital analog converter is added on integrated optical modulator；
C, until 2 π voltage errors are eliminated, 2 π voltage parameters of generation, processor receives simultaneously adjustment tri-state modulated signal amplitude
The parameter is stored, tri-state modulated signal generator generates frequency and reaches elimination 2 π voltage errors effect equal to 2 times of eigenfrequencies, amplitude
The tri-state modulated signal of fruit.
The automatic adjustment method of optical fibre gyro parameter, the automatic debugging process of axial parameter are as follows:
A, rate information demodulator demodulates the 1st kind of tri-state modulated signal and the corresponding signal of three state, obtains
Gyro rate information；
B, processor receiving velocity information, by determining the positive and negative generation gyro axial direction parameter of data.
Processor is comprehensive by axial three parameters of the gyro eigenfrequency received, 2 π voltage of integrated optical modulator and gyro
It closes, generates the corresponding fpga logic of debugging gyro.
Beneficial effects of the present invention: the automatic adjustment method of closed-loop fiber optic gyroscope parameter of the present invention can not add oscillograph etc.
Measuring instrument accurately, is fast and automatically changed and completes closed-loop fiber optic gyroscope eigenfrequency, 2 π voltage of integrated optical modulator and gyro
The debugging of axial three major parameters, can greatly improve optical fibre gyro debugging efficiency, reduce debugging cost, while promote debugging ginseng
Number objectivity and accuracy.
Detailed description of the invention
Fig. 1 is the structural block diagram of closed-loop fiber optic gyroscope parameter automatic debugging device of the present invention；
1- light source, 2- coupler, 3- integrated optical modulator, 4- fiber optic loop, 5- photodetector, 6- preamplifier,
7- analog-digital converter, 8-FPGA, 9- serial digital to analog converter, 10- digital analog converter, 11- processor, the demodulation of 12- rate information
Device, 2 π voltage demodulator of 13- integrated optical modulator, 14- tri-state modulated signal generator, 15- partial step wave signal generate
Device, 16- fifo buffer, 17- analog-digital converter clock generator, 18- tranmitting data register generator.
Fig. 2 is the automatic adjustment method flow diagram of the present invention；
Fig. 3 is part fixed step wave modulated signal and the response signal schematic diagram that optical fibre gyro generates；
Fig. 4 is that tri-state modulated signal and optical fibre gyro respond schematic diagram.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples:
As shown in Figure 1, closed-loop fiber optic gyroscope parameter automatic debugging device of the present invention includes light source 1, coupler 2, Integrated Light
Modulator 3, fiber optic loop 4, photodetector 5, preamplifier 6, analog-digital converter 7, serial digital to analog converter 9, digital-to-analogue is learned to turn
Parallel operation 10, processor 11, rate information demodulator 12,2 π voltage demodulator 13 of integrated optical modulator, tri-state modulated signal produce
When raw device 14, partial step wave signal generator 15, fifo buffer 16, analog-digital converter clock generator 17, transmission
Clock generator 18.Wherein light source, coupler, integrated optical modulator, fiber optic loop and photodetector form closed-loop fiber optic gyroscope
Light path part.Photodetector converts optical signals to electric signal；Preamplifier electric signal is amplified after for subsequent processing；
Analog electrical signal is converted to digital signal by analog-digital converter, so that FPGA is performed corresponding processing；Rate demodulation device, Integrated Light
Learn 2 π voltage demodulator of modulator, tri-state modulated signal generator, partial step wave signal generator, fifo buffer,
Analog-digital converter clock generator and tranmitting data register generator are corresponding modulation /demodulation and signal processing module in FPGA, altogether
It is generated with tuning parameter is completed；Digital analog converter, which is realized, is converted to analog signal for the FPGA digital modulation signals generated, and applies
It is added on integrated optical modulator, completes the modulation of partial step wave or tri-state modulation；Serial digital to analog converter realizes logarithmic mode
The control of converter reference voltage modulates in conjunction with tri-state and realizes the tracking of 2 π voltage parameter of integrated optical modulator and generate；Processing
The data that FPGA is generated are received, and the generation to realize final tuning parameter and the gyro to be debugged such as are fitted, calculate, determining
Fpga logic generates.
(1) eigenfrequency parameter generates
Preamplifier, analog-digital converter, partial step wave signal generator, fifo buffer, modulus turn in Fig. 1
Parallel operation clock generator, tranmitting data register generator and processor constitute eigenfrequency parameter and automatically generate circuit, and parameter is raw
It is as follows at process:
A, as shown in Fig. 2, by partial step wave signal generator generating portion staircase waveform, which is step with code value 1
Into, a modulation period 512 code values, since code value be 65279 start, when code value reaches 65535 partial step wave reset, this
When continue to add up since code value is 0, be added to 255 becomes 65279 again, completes a cycle modulation (the upper figure of Fig. 3)；In part
When staircase waveform resets, analog-digital converter can receive two pulses (Fig. 3 following figure) that time interval is optical fibre gyro period tau.
B, photodetector and analog-digital converter are acquired pulse signal and analog-to-digital conversion, are sent into first entering in FPGA
First go out buffer, fifo buffer is by two modules of analog-digital converter clock generator in Fig. 1 and tranmitting data register generator
Control, analog-digital converter clock is the driving clock of analog-digital converter and the reading clock of fifo buffer, on the clock
It rises and carries out data conversion along analog-digital converter, fifo buffer reads the data under current staircase waveform code value and storage；
C, after the data for storing a modulation period, the data of storage are sent to processor by fifo buffer, by
The reception clock for writing clock and processor of tranmitting data register generator generation fifo buffer；
D, after processor receives the cycle data, two pulse positions of Automatic-searching carry out fitting of a polynomial to pulse,
Position number T1 and T2 of the pulse in a cycle data are obtained, then the eigenfrequency of testing fiber gyro is calculated automatically by following formula
Out:
In formula, Tad is analog-digital converter clock.
E, above step n times are repeated and obtains the average value of test result, which is suitable for point of FPGA by automatic calculating
Frequency coefficient simultaneously sends back FPGA, and FPGA is received and adjusted analog-to-digital conversion in real time by analog-digital converter clock generator after frequency division coefficient
Device clock makes frequency modulating signal be equal to gyro eigenfrequency to be adjusted.
Therefore, the present invention is averagely demodulated by part Fixed-order step modulation and polycycle pulse interval, quick and precisely real
Existing closed-loop fiber optic gyroscope eigenfrequency automatic measurement and frequency division coefficient generate.
(2) 2 π voltage parameter of integrated optical modulator generates
Light source, preamplifier, analog-digital converter, serial digital to analog converter, 2 π voltage solution of integrated optical modulator in Fig. 1
Device, tri-state modulated signal generator, digital analog converter, processor is adjusted to constitute 2 π voltage parameter of integrated optical modulator and give birth to automatically
At circuit, parameter generating process is as follows:
A, ternary signal generator generates the tri-state modulated signal (such as Fig. 4 following figure) that frequency is equal to 2 times of eigenfrequencies, wherein
Shown in the offset phase such as formula (2) and formula (3) of 3 states of tri-state modulated signal:
φb+aφb=2 π (3)
Wherein, it is φ that the 1st state, which corresponds to phase in formula (2),bModulation state, it is a φ that the 2nd state, which corresponds in formula (2) phase,b
Modulation state, it is-φ that the 3rd state, which corresponds in formula (2) phase,bModulation state；
When 2 π voltage parameters of integrated optical modulator are not punctual, collected signal is as shown in Fig. 4 right figure；
B, 2 π voltage demodulator of integrated optical modulator to tri-state modulated signal the 2nd and the corresponding signal of three state into
Row demodulation, obtains 2 π voltage errors；
C, 2 π voltage demodulator of integrated optical modulator generates 2 π voltage error feedback quantities and adjusts serial digital to analog converter
Output, to adjust the modulated signal amplitude that digital analog converter is added on integrated optical modulator；
D, until 2 π voltage errors are eliminated, 2 π voltage parameters of generation, processor receives simultaneously adjustment tri-state modulated signal amplitude
The parameter is stored, tri-state modulated signal generator generates frequency and reaches elimination 2 π voltage errors effect equal to 2 times of eigenfrequencies, amplitude
The tri-state modulated signal of fruit.
(3) gyro axial direction parameter generates
Preamplifier, analog-digital converter, rate information demodulator, tri-state modulated signal generator, digital-to-analogue conversion in Fig. 1
Device, processor constitute gyro axial direction parameter and automatically generate circuit, and parameter generating process is as follows:
A, rate information demodulator demodulates the 1st kind of tri-state modulated signal and the corresponding signal of three state, obtains
Gyro rate information；
B, rate information being sent to processor, processor determines the positive and negative of rate information after receiving rate information,
In the case of earth rotation, gyro rate information should be positive, if the rate information received is negative explanation should reversed axial parameter,
Thus gyro axial direction parameter is completed to debug automatically.
Tri-state modulated signal is applied on integrated optical modulator by the present invention, fast implements the adjustment of 2 π voltage of waveguide, and
Realize that 2 π voltage of integrated optical modulator and gyro axial direction parameter obtain simultaneously.
(4) three parametric synthesis
Eigenfrequency, 2 π voltage of integrated optical modulator and the gyro that (1), (2), (3) step are automatically generated axially are joined
Number storage, and generate the special FPGA logic for being suitable for gyro to be adjusted.
Claims (4)
1. a kind of automatic debugging device of closed-loop fiber optic gyroscope parameter, which is characterized in that turn including preamplifier (6), modulus
Parallel operation (7), serial digital to analog converter (9), digital analog converter (10), processor (11), rate information demodulator (12), Integrated Light
It learns 2 π voltage demodulator (13) of modulator, tri-state modulated signal generator (14), partial step wave signal generator (15), first enter
First go out buffer (16), analog-digital converter clock generator (17), tranmitting data register generator (18), wherein preamplifier
(6), analog-digital converter (7), rate information demodulator (12), 2 π voltage demodulator (13) of integrated optical modulator, serial digital-to-analogue
Converter (9), digital analog converter (10) are sequentially connected with, tri-state modulated signal generator (14) setting digital analog converter (10) with
Between 2 π voltage demodulator (13) of integrated optical modulator, partial step wave signal generator (15) is connected to digital analog converter
(10) on, analog-digital converter (7) is connected by fifo buffer (16) with processor (11), rate information demodulator (12)
It is connected with processor (11), 2 π voltage demodulator (13) of integrated optical modulator is connected with processor (11), and tranmitting data register generates
Device (18) is arranged between processor (11) and fifo buffer (16), and analog-digital converter clock generator (17) setting exists
Between analog-digital converter (7) and fifo buffer (16), and preamplifier (6) reception optical fiber gyro photodetector
(5) signal issued, digital analog converter (10) are connect with the integrated optical modulator (3) of optical fibre gyro.
2. a kind of automatic debugging device of closed-loop fiber optic gyroscope parameter according to claim 1, which is characterized in that rate letter
Cease demodulator (12), 2 π voltage demodulator (13) of integrated optical modulator, tri-state modulated signal generator (14), partial step wave
Signal generator (15), fifo buffer (16), analog-digital converter clock generator (17), tranmitting data register generator (18)
It is integrated on FPGA (8).
3. a kind of optical fibre gyro parameter of the automatic debugging device based on closed-loop fiber optic gyroscope parameter as claimed in claim 2 is automatic
Adjustment method, which is characterized in that the FPGA digital modulation signals generated are converted to analog signal by digital analog converter, and are applied to
On integrated optical modulator, the modulation of partial step wave is completed, is realized in conjunction with the different frequencies reading/writing method of first in, first out to optical fiber top
The automatic debugging of spiral shell characteristic frequency parameter；Serial digital to analog converter realizes the control of logarithmic mode converter reference voltage, in conjunction with three
The automatic debugging of 2 π voltage parameter of integrated optical modulator and axial parameter is realized in state modulation；3 states of tri-state modulated signal
Shown in offset phase such as formula (2) and formula (3):
φb+aφb=2 π (3)
Wherein, it is φ that the 1st state, which corresponds to phase in formula (2),bModulation state, it is a φ that the 2nd state, which corresponds in formula (2) phase,bTune
State processed, it is-φ that the 3rd state, which corresponds to phase in formula (2),bModulation state；
The automatic debugging process of eigenfrequency parameter is as follows: a, partial step wave signal generator generate fixed stepping staircase waveform letter
Number, which originates code value near ladder baud generator maximum code value, passs since code value 0 automatically when reaching maximum code value
Increase；B, analog-digital converter converts photo detector signal, and data are sent into fifo buffer with sampling clock
Middle storage；C, after fifo buffer stores partial step wave data modulation period, processor is to communicate clock reception
The data stored in fifo buffer；D, pulse position in processor Automatic-searching signal carries out pulse signal multinomial
It is fitted and passes through repeatedly measurement and obtain accurate gyro eigenfrequency parameter, generate corresponding FPGA frequency division parameter；E, FPGA is received
The frequency division parameter of corresponding eigenfrequency generates the tri-state modulated signal that frequency is equal to 2 times of eigenfrequencies；
The 2 automatic debugging process of π voltage parameter of integrated optical modulator is as follows: a, ternary signal generator generate frequency and are equal to 2 times
The tri-state modulated signal of eigenfrequency, 2 π voltage demodulator of integrated optical modulator is to tri-state modulated signal the 2nd and three state
Corresponding signal is demodulated, and 2 π voltage errors are obtained；B, 2 π voltage demodulator of integrated optical modulator generates 2 π voltage errors
Feedback quantity simultaneously adjusts serial digital to analog converter output, to adjust the modulated signal that digital analog converter is added on integrated optical modulator
Amplitude；C, until 2 π voltage errors are eliminated, 2 π voltage parameters of generation, processor receives and stores adjustment tri-state modulated signal amplitude
The parameter, tri-state modulated signal generator generate frequency and reach 2 π voltage error effects of elimination equal to 2 times of eigenfrequencies, amplitude
Tri-state modulated signal；
The axial automatic debugging process of parameter is as follows: a, rate information demodulator are to the 1st kind of tri-state modulated signal and three state pair
The signal answered is demodulated, and gyro rate information is obtained；B, processor receiving velocity information, by determining the positive and negative generation top of data
Spiral shell axial direction parameter.
4. the automatic adjustment method of closed-loop fiber optic gyroscope parameter according to claim 3, which is characterized in that processor will receive
Axial three parametric synthesis of gyro eigenfrequency, 2 π voltage of integrated optical modulator and the gyro arrived, automatically generate the debugging gyro
Corresponding fpga logic.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109724582A (en) * | 2018-12-28 | 2019-05-07 | 北京航空航天大学 | A kind of method of the on-line automatic tracking of optical fiber gyroscope eigenfrequency |
| CN111641892B (en) * | 2020-05-21 | 2022-01-21 | 成都信息工程大学 | High-precision service clock mapping and recovering method in OTN |
| CN112033435B (en) * | 2020-07-31 | 2024-07-26 | 河北汉光重工有限责任公司 | Closed loop fiber optic gyroscope bandwidth testing method |
| CN112710332B (en) * | 2020-12-21 | 2024-09-24 | 株洲菲斯罗克光电科技股份有限公司 | Output power calibration method and system for optical fiber gyroscope |
| CN112710331B (en) * | 2020-12-21 | 2024-09-24 | 株洲菲斯罗克光电科技股份有限公司 | Method and system for initializing and calibrating optical fiber gyroscope |
| CN112697125B (en) * | 2021-01-27 | 2022-02-18 | 湖北三江航天红峰控制有限公司 | Online tracking method and system for eigenfrequency of fiber-optic gyroscope |
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