CN108534798B - Polarization nonreciprocal error elimination method in dual-polarization fiber-optic gyroscope and dual-polarization fiber-optic gyroscope - Google Patents
Polarization nonreciprocal error elimination method in dual-polarization fiber-optic gyroscope and dual-polarization fiber-optic gyroscope Download PDFInfo
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Abstract
The invention discloses a method for eliminating polarization nonreciprocal errors in a dual-polarization fiber-optic gyroscope and the dual-polarization fiber-optic gyroscope. The method comprises the following steps: inputting a light source into two Y waveguides through a circulator respectively, and inputting signals modulated by the Y waveguides into a polarization beam splitting end of two polarization beam splitting and combining devices through two output ends of each Y waveguide respectively; the polarization beam-combining ends of the two polarization beam-splitting and beam-combining devices are connected through a polarization-maintaining optical fiber ring; each circulator is respectively connected with a photoelectric detector and is used for collecting interference signals output by the Y waveguide; the phases of the modulation signals applied to the two Y waveguides are opposite; and demodulating interference signals acquired by the two photoelectric detectors by adopting a harmonic demodulation method in the open-loop gyroscope. The invention can reduce nonreciprocal error caused by polarization cross coupling to a great extent on the structure of the existing dual-polarization fiber-optic gyroscope, so that two polarization states of the dual-polarization fiber-optic gyroscope can be used.
Description
Technical Field
The invention belongs to the technical field of gyroscopes, and particularly relates to a method for eliminating polarization nonreciprocal errors in a dual-polarization fiber optic gyroscope.
Background
A gyroscope is a rotation sensor used to determine the angular velocity of rotation of a carrier on which it is mounted. Gyroscopes are widely used in the fields of guidance of aircrafts and weapons, precision measurement in industry and military. Early gyroscopes were mechanical gyroscopes, which were orientation devices fabricated using a physical principle that the axis of rotation of the high speed rotating body had a tendency to maintain its orientation. Since the mechanical gyroscope includes a moving part (e.g., a high-speed rotor), its structure is complicated, process requirements are high, and accuracy is variously restricted.
In the 1960 s, with the advent of laser light, research into the fabrication of optical gyroscopes using laser light has rapidly progressed. An optical gyroscope is a directional device manufactured based on the Sagnac effect. Specifically, in a rotating closed optical path, two beams of light with the same characteristics emitted by the same light source interfere with each other when transmitted in a Clockwise (CW) direction and a counterclockwise (CCW) direction, respectively, and the rotational angular velocity of the closed optical path can be measured by detecting the phase difference or the change of interference fringes of the two beams of light. The above phase difference is called the Sagnac phase shift φSIt is proportional to the angular velocity of rotation Ω of the closed optical path:
where ω is the frequency of light, c is the speed of light in vacuum, and A is the area enclosed by the closed optical path.
In an interferometric fiber optic gyroscope, a long optical fiber is often wound into a multi-turn coil to form a closed optical path. The Sagnac effect can be enhanced by using a multi-turn coil. In this case, the Sagnac phase shift φSThe expression of (a) is:
wherein, L is the length of the optical fiber, D is the diameter of the optical fiber coil, and lambda is the wavelength of the light wave.
In order to bias the gyroscope to a high-sensitivity working point, a non-dissimilar phase bias needs to be introduced, and the signal detected by the PD is ID＝I0{1+cos[φs+Δφ(t)]}. One effective phase offset method is to introduce a dynamic phase modulation by the phase modulator, as shown in fig. 1. Thus, the additional phase difference between the two light waves is Δ φ (t) — φCCW(t)-φCW(t)＝φm0(t)-φm0(t- τ), where τ is the transit time of the fiber loop, τ ═ neffL/c, where neff is the effective index of the fiber and L is the fiber ring length. When a sinusoidal phase modulation is used,
φm0(t)＝φ0sin(ωmt) formula (3)
The frequency components of the detected signal are as follows:
wherein the following equation can be solved
I(4ωm)/I(2ωm)＝J4(φm)/J2(φm) Formula (6)
Wherein I (4 omega)m)，I(2ωm) The fourth and second harmonics of the light intensity detected by the photodetector. Finally, the Sagnac phase shift can be detected by using the first harmonic and the second harmonic
φS＝arctan[I(ωm)J2(φm)/I(2ωm)J1(φm)/]]Formula (7)
Finally pass through
The angular velocity of the rotation can be obtained, which is the algorithm of harmonic demodulation commonly used in the gyroscope.
A Dual-polarization fiber optic gyroscope (z.wang, y.yang, p.lu, r.luo, y.li, d.zhao, c.peng, and z.li, "Dual-polarization interferometric fiber with an ultra-simple configuration," operation.let t.39(8),2463(2014)) is a relatively novel fiber optic gyroscope in recent years, and the classical structure is shown in fig. 2. The difference between the fiber-optic gyroscope and the traditional fiber-optic gyroscope is that the optical compensation effect of two polarization states in the fiber-optic ring is utilized for measurement, and the fiber-optic gyroscope has the advantages of simple structure and strong environmental adaptability.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to provide a dual-polarization fiber-optic gyroscope with a polarization nonreciprocal error elimination method. The invention uses the modulation signals of the opposite phases for the light of the two polarization states to enable the noise component generated by the polarization cross coupling to be modulated, and does not generate interference to the signal quantity in the final harmonic demodulation.
In the dual-polarization fiber-optic gyroscope, most of polarization-related noise can be eliminated or suppressed by the optical compensation effect of dual polarization, but due to environmental disturbance and imbalance of power of two polarization states, some intensity type noise caused by polarization cross coupling is difficult to eliminate by the optical compensation effect of dual polarization, and the residual noise has a relatively large influence on the final precision of the dual-polarization fiber-optic gyroscope. In order to eliminate the noise, the invention provides a method of inverse modulation.
In the invention, the technical scheme is as follows:
(1) with the optical path structure shown in fig. 3, two sinusoidal modulation signals or square wave modulation signals with opposite phases (phase difference of pi) are applied to two Y waveguides (integrated optical multi-functional optical waveguide modulators).
(2) In fig. 3, each type of light passes twice (into and out of the fiber ring) through the Y-waveguide (integrated optical multifunction optical waveguide modulator), the two Y-waveguides through which the dominant polarization component passes are the same Y-waveguide, and the polarization cross-coupled polarization components pass through two different Y-waveguides. Because the phases of the modulation signals of the two Y waveguides are completely opposite, the interference result generated after the polarization components of the polarization cross coupling reach the PD has no modulation phase, so that the interference result of the polarization components of the polarization cross coupling can be shifted to a low-frequency part from the eigenfrequency.
(3) In the present invention, the last demodulation method uses the harmonic demodulation commonly used in the open-loop gyro, the rotation signal is obtained by extracting the 1,2, 3 and 4 harmonics of the interference signal, and the noise is eliminated because the interference result of the polarization component of the polarization cross coupling is moved to the low frequency part.
Preferably, two Y waveguides with similar performance and high extinction ratio are used. By using the Y waveguide with high extinction ratio, the nonreciprocal error caused by high-order polarization components can be effectively eliminated, and the effect of inverse modulation is improved.
Preferably, the modulation signal is a sinusoidal signal or a square wave modulation signal of the eigenfrequency of the fiber loop.
Preferably, the demodulation method is harmonic demodulation.
Compared with the prior art, the invention has the following positive effects:
the invention has great significance for the development of the dual-polarization fiber-optic gyroscope, and by utilizing the invention, the nonreciprocal error caused by polarization cross coupling can be reduced to a great extent on the structure of the existing dual-polarization fiber-optic gyroscope, so that the two polarization states of the dual-polarization fiber-optic gyroscope can be used.
Drawings
FIG. 1 is a schematic diagram of a minimum reciprocity structure of an interferometric optical fiber gyroscope;
FIG. 2 is a schematic diagram of a classical dual-polarization fiber optic gyroscope;
FIG. 3 is a schematic diagram of a dual polarization fiber optic circulator-based gyroscope useful in the present invention;
FIG. 4 is a schematic diagram of another dual-polarization fiber optic gyroscope;
FIG. 5 is an equivalent schematic diagram of an integrated optical multifunction optical waveguide modulator (Y-waveguide) for use in the present invention;
fig. 6 is a graph of an error analysis of the output angular velocity data of the gyroscope of fig. 3 using the present invention.
Detailed Description
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that such embodiment(s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.
Various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Fig. 3 is a schematic diagram of a structure used in the present invention. As shown in fig. 3, the present invention uses a structure including: two incoherent broad spectrum light sources (preferably broad spectrum depolarized light sources) with good consistency (such as having the same or similar power, center wavelength and spectral width), two circulators, two high extinction ratio Y waveguides (integrated optical multi-functional optical waveguide modulators) with good consistency, two polarization beam splitters and beam combiners, one polarization maintaining fiber ring and two photodetectors. Wherein: the center wavelength lambda of the wide-spectrum depolarization light source is 1550nm, and the spectrum width delta lambda is 40 nm; length L of polarization-maintaining fiber ringSMF2100m, radius R7 cm; the Y waveguide uses a modulation frequency f of 52K.
FIG. 4 is a schematic diagram of another dual-polarization fiber optic gyroscope structure used in the present invention, which includes a light source, two couplers, two Y waveguides, two polarization beam splitters, two polarization maintaining fiber rings, and two photodetectors; the light source connected with the first coupler and the light source connected with the second coupler are the same light source; the coupler is a single mode coupler.
In the invention, by adopting two modulation signals with opposite phases for modulation, the polarization nonreciprocal error caused by polarization cross coupling in the dual-polarization fiber-optic gyroscope can be eliminated to a great extent. This is briefly explained in theory below.
In fig. 3, the optical field of the light generated by the light sources 1,2 when entering the Y waveguides 1,2 can be expressed as:
wherein theta is10And theta20Is the initial phase of the light source.
In the present device, the Y-waveguide can be viewed as a superposition of one polarizer, one coupler and two modulators, as shown in fig. 5. The jones matrix of polarizers and couplers can be expressed as:
wherein:
representing the transmission coefficient of the Y waveguide.
In the present apparatus, the present invention is described by taking two sine waves with the same modulation frequency and amplitude as an example for two Y waveguides, and the modulation phase can be expressed as:
wherein: thetamiIs the initial phase of the modulated signal, fmIs the frequency of the modulated signal.
The phase of Clockwise (CW) and counterclockwise light in the polarization maintaining fiber loop can be written as:
φm+(t)+φm-(t-τg),φm-(t)+φm+(t-τg) Formula (11)
Wherein: tau isgL/v, represents the time required for the light to make one turn in the fiber loop.
In the present device, the modulation frequency fm＝1/2τgIs the eigenfrequency of the optical fiber ring, and the error caused by back scattering in the optical fiber ring can be obviously inhibited and simultaneously phi can be obtainedm+(t)＝-φm-(t-τg) At this time phiCW-φCCWA maximum value can be obtained.
In the present device, the light is coupled into the polarization-maintaining fiber ring through two PBSs/cs after entering the two Y waveguides, as shown in fig. 3. There are 4 fusion points A, B, C, D between the Y waveguide and the PBS/C, and there are some off-axis errors, which bring large polarization cross-coupling, so the jones matrices of these points cannot be ignored in the analysis, and they can be expressed as:
wherein: thetamRepresenting the off-axis angle of these several points. Since the same fusion splicer is used for the axis alignment, the 4 points have substantially the same axis offset angle, which can be expressed as: thetaA≈θB≈θC≈θD≈θmis。
In the device, the polarization maintaining fiber ring can be equivalent to M sections of polarization maintaining fibers, and K (kappa) is usedn) The transmission matrix of each section of polarization-maintaining fiber is represented, so that the transmission matrix of the polarization-maintaining fiber ring Clockwise (CW) and counterclockwise (CCW) can be represented as:
in the present device, as shown in fig. 3, the light fields reaching PD1 and PD2 can be expressed as:
as can be seen from equations 8 and 9, each PD receives 8 types of light classified by the polarization state of the light, and can write the light with the polarization state m when it exits from the light source i (i is 1,2) and the light with the polarization state n when it reaches PDj (j is 1,2) as Eimjn. In this device, only the dominant polarization component (E) needs to be considered, since two independent broadband light sources are used and the Y-waveguide has a very high extinction ratio1x1x，E2y2y) And a dual polarization coupled polarization component (E)2y1x，E1x2y). The light field reaching the PD can therefore be simplified to:
the detected light intensity on the PD can be expressed as:
IPD1(t)≈D.C.+Ip1+Idi1formula (19)
IPD2(t)≈D.C.+Ip2+Idi2Formula (20)
Wherein: d.c. represents a direct current term; i isp1And Ip2Represents the dominant wave (E)1x1x，E2y2y) The interference term of (1), carrying the Sagnac phase shift; i isdi1And Idi2Representing dual polarization coupled polarization components (E)2y1x，E1x2y) The interference term of (2) is the main source of the dual polarization intensity type error.
In the deviceIn (I)di1And Idi2Can be expressed as:
wherein: k1And K2Respectively represent Idi1And Idi2The interference intensity coefficient of (a); phi is aerr1And phierr2Is a dual-polarization intensity type polarization nonreciprocal error due to a dual-polarization coupling polarization component, which has opposite signs on two PDs (z.wang, y.yang, p.lu, c.liu, d.zhao, c.peng, z.zhang, and z.li, "optical compensated polarization recovery in interferometric fibers-optical semiconductors," op.express 22(5), 4908-4919 (2014)); phi is amod1(t) and phimod2(t) is the offset phase brought by the sinusoidal modulation signal, which can be expressed as:
wherein: delta thetam＝θm2-θm1The difference between the initial phases of the sinusoidal modulated signals of the two Y waveguides is shown.
In the device, when the consistency of two paths is better and the power is more balanced, K can be considered as1＝K2At this time Idi1And Idi2The addition can result in: i isdi＝Idi1(t)+Idi2(t)＝2K1cosφerr1cos[φs+φmod1]. By adding the signals of the two PDs, the dual polarization type error is completely compensated. But in actual operation, due to the external environmentThe two paths of the gyroscope are difficult to keep good consistency and power balance, so that the compensation effect is greatly reduced, and the precision of the gyroscope is influenced.
In the present invention, harmonic demodulation commonly used for open-loop demodulation is used, and therefore, the error caused by the dual-polarization intensity type error on the demodulation result can be expressed as:
wherein J1Is a first order bessel function.
As can be seen from equation 18: when Δ θmWhen the crystal grain number is equal to pi,
φdi1,dem0. This indicates that: when the difference between the initial phases of the sine modulation signals of the two Y waveguides is pi, namely the phases are opposite, the dual-polarization intensity type phase error can be completely eliminated, and the purpose of the invention is achieved.
Fig. 6 is a graph of an error analysis obtained using the present invention on the apparatus shown in fig. 3, and it can be seen that the polarization non-reciprocal noise of the gyroscope is significantly suppressed using the present invention.
While the foregoing disclosure shows illustrative embodiments of the invention, it should be noted that various changes and modifications could be made herein without departing from the scope of the invention as defined by the appended claims. In accordance with the structures of the embodiments of the invention described herein, the constituent elements of the claims can be replaced with any functionally equivalent elements. Therefore, the scope of the present invention should be determined by the contents of the appended claims.
Claims (5)
1. A method for eliminating polarization nonreciprocal errors in a dual-polarization fiber-optic gyroscope comprises the following steps:
1) respectively inputting a first broadband light source and a second broadband light source into two Y waveguides, and respectively inputting signals modulated by the Y waveguides into one polarization beam splitting end of two polarization beam splitting and combining devices by two output ends of each Y waveguide; the polarization beam-combining ends of the two polarization beam-splitting and beam-combining devices are connected through a polarization-maintaining optical fiber ring; respectively connecting and collecting interference signals output by the Y waveguides by using a photoelectric detector; the modulation signals applied to the two Y waveguides are sine modulation signals with opposite phases; the first broadband light source and the second broadband light source are incoherent wide-spectrum depolarization light sources;
2) and demodulating interference signals acquired by the two photoelectric detectors by adopting a harmonic demodulation method in the open-loop gyroscope.
2. A dual-polarization fiber optic gyroscope is characterized by comprising a first broadband light source, a second broadband light source, two circulators, two Y waveguides, two polarization beam splitting and combining devices, a polarization-maintaining fiber optic ring and two photodetectors; the port 1 of the first circulator is a first broadband light source input end and is used for receiving an input first broadband light source, the port 2 of the first circulator is connected with the input end of a first Y waveguide, one output end of the first Y waveguide is connected with one polarization beam splitting end of a first polarization beam splitting and combining device, the other output end of the first Y waveguide is connected with the other polarization beam splitting end of the first polarization beam splitting and combining device, and the polarization beam combining end of the first polarization beam splitting and combining device is connected with one end of the polarization-preserving fiber ring; the port 1 of the second circulator is a second broadband light source input end and is used for receiving an input second broadband light source, the port 2 of the second circulator is connected with the input end of a second Y waveguide, one output end of the second Y waveguide is connected with one polarization beam splitting end of a second polarization beam splitting and combining device, the other output end of the second Y waveguide is connected with the other polarization beam splitting end of the second polarization beam splitting and combining device, and the polarization beam combining end of the second polarization beam splitting and combining device is connected with the other end of the polarization-preserving fiber ring; a port 3 of the first circulator is connected with the first photoelectric detector, and a port 3 of the second circulator is connected with the second photoelectric detector; the modulation signal applied to the first Y waveguide and the modulation signal applied to the second Y waveguide are sinusoidal modulation signals with opposite phases; the ports 1,2 and 3 of the circulator are three ports which are sequentially arranged according to the signal transmission direction of the circulator; the first broadband light source and the second broadband light source are incoherent wide-spectrum depolarization light sources.
3. A dual-polarization fiber optic gyroscope is characterized by comprising a first broadband light source, a second broadband light source, two couplers, two Y waveguides, two polarization beam splitting and combining devices, a polarization-preserving fiber optic ring and two photodetectors; the input end of the first coupler is connected with a first broadband light source and used for receiving the input first broadband light source, the other input end of the first coupler is connected with a first photoelectric detector, the output end of the first coupler is connected with the input end of a first Y waveguide, one output end of the first Y waveguide is connected with one polarization beam splitting end of a first polarization beam splitting and combining device, the other output end of the first Y waveguide is connected with the other polarization beam splitting end of the first polarization beam splitting and combining device, and the polarization beam combining end of the first polarization beam splitting and combining device is connected with one end of the polarization-preserving optical fiber ring; the input end of the second coupler is connected with a second broadband light source and used for receiving the input second broadband light source, the other input end of the second coupler is connected with a second photoelectric detector, the output end of the second coupler is connected with the input end of a second Y waveguide, one output end of the second Y waveguide is connected with one polarization beam splitting end of a second polarization beam splitting and combining device, the other output end of the second Y waveguide is connected with the other polarization beam splitting end of the second polarization beam splitting and combining device, and the polarization beam combining end of the second polarization beam splitting and combining device is connected with the other end of the polarization-preserving optical fiber ring; the modulation signal applied to the first Y waveguide and the modulation signal applied to the second Y waveguide are sinusoidal modulation signals with opposite phases; the first broadband light source and the second broadband light source are incoherent wide-spectrum depolarization light sources.
4. A dual polarization fiber optic gyroscope according to claim 2 or 3, wherein the frequency of the modulation signal is a sinusoidal signal at the polarization maintaining fiber ring eigenfrequency.
5. The dual-polarization fiber optic gyroscope of claim 2 or 3, wherein the Y-waveguide is a high extinction ratio Y-waveguide.
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