CN109084744A - Processing method of dynamic locking area of laser gyroscope - Google Patents
Processing method of dynamic locking area of laser gyroscope Download PDFInfo
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- CN109084744A CN109084744A CN201811042753.3A CN201811042753A CN109084744A CN 109084744 A CN109084744 A CN 109084744A CN 201811042753 A CN201811042753 A CN 201811042753A CN 109084744 A CN109084744 A CN 109084744A
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- laser gyro
- locking area
- dynamic locking
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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
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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
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Abstract
The invention belongs to the laser gyro technology, and relates to a processing method of a dynamic lock area of a laser gyro. When the gyroscope works in the dynamic lock zone range, the two arms of the gyroscope output different current values by adjusting the voltage values of the two arms of the gyroscope, and the gyroscope outputs a specific zero offset value B by utilizing the Langmuir flow zero drift effect0. By calculation, the zero offset value B is deducted from the measured output angular velocity0The actual input angular velocity true value of the lock area range of the original state can be accurately obtained. The invention can effectively reduce the cost and the technical difficulty, can completely eliminate the influence of the dynamic lock area, effectively improves the measurement precision and has good practical engineering application value.
Description
Technical field:
The invention belongs to laser gyro techniques, are related to a kind of processing method of laser gyro dynamic locking area, and the machine that can eliminate is trembled
Formula laser gyro dynamic locking area.
Technical background:
Laser gyro is a kind of instrument of sensitive angular speed, since the angular velocity signal of laser gyro output is proportional to annular
Optical path along the frequency difference of laser operated counterclockwise, therefore a kind of laser of direction operating after reflecting mirror or resonant cavity backwards
Scattering light can be returned along original optical path, in the laser that counter coupled is operated to another direction, form interference.This coupling under the slow-speed of revolution
Credit union causes to lock mutually along the two beam laser frequencies operated counterclockwise, i.e. frequency latch up effect, causes laser gyro to export and is
Zero, the angular speed lower limit that laser gyro can detect, the referred to as lock-in threshold of laser gyro are formed, representative value is tens degree every
Hour, it is necessary to frequency latch up effect is overcome using other modes.Can largely it be disappeared by the way of mechanical shaking offset frequency
It is most successful and the highest mode of precision except gyro locks area, usual such mode can be by gyro several years even tens areas Du Suo
It filters out, but there are still a small-scale lock areas, referred to as dynamic locking area after mechanical shaking offset frequency.What dynamic locking area was reflected
Be gyro can be sensitive minimum input angle speed, the presence of dynamic locking area affects the sensitive precision of gyro.For high-precision
Independent navigation occasion, the presence of dynamic locking area is to navigation accuracy and the result is that unfavorable.Dynamic locking area is suppressed or eliminated, is
The important means that laser gyro improves sensitive precision, improves gyro performance.
In the prior art to the processing scheme of gyro dynamic locking area, mainly there is compression dynamic locking area range and be added and make an uproar at random
The methods of sound.The method for compressing dynamic locking area range is the theoretical basis generated according to dynamic locking area, by changing affecting parameters
α/ωDNumerical value, wherein α is the amplitude of Dithered signal, ωDFor the frequency of Dithered signal, so that α/ωDValue to the greatest extent may be used
Can it is big, the range of dynamic locking area can be reduced.As long as theoretically sufficiently large completely eliminate dynamically is arranged in parameter to the program
Area is locked, but it is higher for laser gyro technique requirement and manufacture level, since prior art restriction can only subtract to a certain extent
Small dynamic locking area range.
Random noise method is added, is led to by adding noise cancellation circuit that noise is added in the shake driving of laser gyro
The processing to output signal is crossed, effectively reduces dynamic locking area, but actually there are still very small dynamic locking areas.
Summary of the invention:
The purpose of the present invention: a kind of processing method that can effectively eliminate laser gyro dynamic locking area is provided, laser top is improved
Spiral shell sensitivity precision, suitable for there are still the laser tops of smaller dynamic locking area after using mechanical shaking offset frequency mode to eliminate static lock area
Spiral shell.
Technical solution of the present invention: a kind of laser gyro dynamic locking area processing method, laser gyro work in dynamic locking area
When range, by adjusting laser gyro two-arm voltage value, so that laser gyro two-arm exports different current values, due to Langmuir
It flows zero Drift Effects laser gyro and exports a specific zero bias value B0(laser gyro output used is tested in 0.3 °/h~1 ° of range/h
0.5 °/h), measurement output angular velocity is deducted into zero bias value B0Former dynamic locking area range can be accurately obtained actually enters angle speed
Spend true value.
The laser gyro system includes:
1) hardware module: laser gyro body construction is made of low temperature coefficient of expansion devitrified glass, internal by punching
Annular laser beams resonant cavity is formed, and for installing the components such as reflecting mirror and anode, cathode, is filled with He-Ne gas in resonant cavity
As gain media, mode competition is reduced while enough gains are provided；The different plane mirror 1 of transmission coefficient, plane mirror 2 and 2
Spherical mirror 1, the spherical mirror 2 of high reflectance；Anode 1, anode 2 and cathode form laser for electrion；Diaphragm is used for modeling,
Gyro is set to be in single transverse mode operating condition；Machine trembles wheel and trembles offset frequency for machine, eliminates static lock area.
2) electrical module:
One, power module: including power supply and voltage control circuit, function high voltage startup, when for gyro starting
High pressure starter；Input voltage control, adjusts the functions such as laser gyro two-arm size of current.
Two, machine trembles control module: for controlling the mechanical shaking offset frequency of laser gyro, so that machine is trembled wheel and exports stable amplitude
And frequency, eliminate the former static lock area of laser gyro；
Three, path length control module: frequency stabilization circuit carries out closed-loop control to piezoelectric ceramics PZT, keeps laser gyro cavity long permanent
It is fixed, make inner laser work in the gain peak point of gain media, to export stable beat signal；
Four, it is used to group CPU module: has comprising counting circuit and calculation processing part, function, calculating, reversible counting, survey
Temperature, monitoring, is sent compensation.
The laser gyro dynamic locking area processing method, the specific steps of which are as follows:
Step 1: starting laser gyro makes laser gyro be in normal mode of operation；
Step 2: as extraneous input angular velocity ωiWhen close to dynamic locking area range, it is used to group CPU module judgement and calculates an output angle
Whether speed enters in set -0.25 ° of threshold range/h~0.25 °/h comprising former dynamic locking area, if so, used group CPU
Mode control signal is sent to power module by module, and power module control circuit changes laser gyro two-arm size of current, is swashed
Optical circulator is switched to specific zero bias operating mode, it is made to export zero bias value B0For 0.5 °/h；
Step 3: used group CPU module counting circuit part record is by specific zero bias B0With input angular velocity ωiCaused laser
Gyro reality output umber of pulse, to the signal reflect to after demodulation, send it to a used group CPU module calculation processing unit
Point；
Step 4: the zero bias B that used group CPU module calculation processing part is exported according to specific zero bias operating mode0, in reality
It is deducted in output umber of pulse, calculates to obtain pulse true value, while according to constant multiplier parameter, calculate and export and actually enter angular speed
True value；
Step 5: by calculated result feedback into used group of CPU module determining program, it is suitable to be switched according to output angular velocity
Operating mode；
Step 6: system work terminates, and power module control circuit is cut off the power, and laser gyro work terminates.
The laser gyro dynamic locking area processing method, step 3, step 4 are required in specific zero bias work in step 5
When operation mode, the difference of laser gyro two-arm constant current hold, single armed discharge current stability is better than 1 × 10-4, two-arm electricity
The stability for flowing difference is better than 2 × 10-5, it is better than the specific zero bias B of 1ppm using Langmuir stream zero Drift Effects output stability0；
Non-linear input/output relation within the scope of former dynamic locking area can be adjusted to linear relationship using the zero bias value, by former dynamic locking area
It completely eliminates, therefore the processing method is capable of measuring accurate input angular velocity within the scope of laser gyro original dynamic locking area, eliminates
The influence of laser gyro original dynamic locking area, effectively increases the measurement accuracy of laser gyro.
The advantages of the present invention:
Relative to compression dynamic locking area range and random noise method is added, the processing method is only by controlling electricity to power supply
Road software program is adjusted improvement, and technical requirements are low, and the influence of dynamic locking area is completely eliminated, and reduces machinery and trembles
The technical requirements of dynamic offset frequency, effectively increase the measurement accuracy of laser gyro within the scope of dynamic locking area.
Detailed description of the invention:
Fig. 1 is gyro system structural schematic diagram
Fig. 2 is laser gyro dynamic locking area curve synoptic diagram
Fig. 3 is circuit operation principle flow chart
Specific embodiment:
The present invention is described in further detail below in conjunction with the accompanying drawings:
The processing method of laser gyro dynamic locking area of the present invention is a kind of to make laser by change laser gyro two-arm electric current
Gyro zero bias value changes to eliminate the processing scheme of former dynamic locking area.This method utilizes Langmuir stream zero Drift Effects, passes through electricity
Whens road control waits laser gyro two-arm electric current not, laser gyro exports zero bias value, former dynamic locking area range is avoided, linear
Gyro exports more accurate umber of pulse in region, when used group CPU is resolved, deducts umber of pulse caused by specific zero bias, thus
Calculate to obtain accurate true input angular velocity.
The implementing procedure of laser gyro dynamic locking area processing method, specific works are provided in conjunction with Fig. 1, Fig. 2, Fig. 3
Process is as follows:
1, start laser gyro: power module provides electrion, two beam different directions frequencies of intracavitary generation are identical, phase
The laser that the constant wavelength in position is 632.8nm；It reflects, is formed by plane mirror 1 and plane mirror 2 between spherical mirror 1 and spherical mirror 2
Resonant cavity, two beam laser are in resonant cavity interior resonance, and since 2 transmission coefficient of plane mirror is higher than plane mirror 1, two beam laser parts are penetrated
Plane mirror 2 forms interference, and is detected by photoelectric detector and form beat signal；When extraneous input angular velocity is not zero, two beams
Laser reaches the light path difference of interference region and generates interference signal, and photoelectric detector detects the signal and is converted into pulse signal
Afterwards, it is transmitted to counting circuit record in used group CPU module, is used to group CPU module and handles counting circuit institute output pulse signal,
And output angular velocity information.When extraneous input angular velocity is outside former dynamic locking area, power control circuit controls laser gyro two-arm
Electric current, makes two-arm electric current output phase etc., inhibit Langmuir flow effect make laser gyro export zero bias close to zero (actually there are still
Small value zero is inclined), laser gyro is in normal mode of operation.Laser gyro structure is as shown in Figure 1；
2, when extraneous input angular velocity is close to dynamic locking area range, a used group CPU module is judged by house software program
Calculate whether output angular speed enters in set -0.25 ° of threshold range/h~0.25 °/h comprising former dynamic locking area, if
It is that mode control signal is sent to power module by used group CPU module, power module control circuit changes two-arm size of current,
Laser gyro is switched to specific zero bias operating mode, it is made to export zero bias value B0For 0.5 °/h.Process flow is as shown in Figure 3；
Illustrate: being manually set when threshold range write-in software program, it is necessary to dynamic locking area range is included and
Greater than former dynamic locking area range.
3, it is used to group CPU module counting circuit part record by specific zero bias B0With input angular velocity ωiCaused laser gyro
Reality output umber of pulse, to the signal reflect to after demodulation, send it to a used group CPU module calculation processing part；
4, it is used to the zero bias B that group CPU module calculation processing part is exported according to specific zero bias operating mode0, in reality output
It is deducted in umber of pulse, calculates to obtain pulse true value, while according to constant multiplier parameter, calculate and export that actually enter angular speed true
Value；
Illustrate: as shown in Fig. 2, laser gyro dynamic locking area processing method, is actually equivalent to normal in laser gyro
When dynamic locking area range under operating mode, the output of laser gyro is lifted to outside former dynamic locking area range, due to changing two
The change of zero bias is exported after arm size of current so that laser gyro in former dynamic locking area range input/output relation be linear, and general
Output valve improves specific zero bias B0Size, therefore pass through known zero bias B0Actual angular speed can be accurately calculated.
When dynamic locking area range exports under normal mode of operation are as follows:
ωout≈0
Wherein, ωoutFor the output angular velocity of dynamic locking area former under normal mode of operation.
Using input/output relation after the processing method are as follows:
ω'out=ωin+k0B0
Wherein, ω 'outFor using laser gyro output angular velocity after the method, ωinTo actually enter angular speed, k0For
Laser gyro scale factor, B0For the specific zero bias value exported after change two-arm electric current described above.
After used group CPU module processing are as follows:
ωc=ω 'out-k0B0
Wherein ωcFor the reality output angular speed after specific zero bias value is deducted in used group CPU module processing.
It can be seen that using the processing method, reality output angular speed is to actually enter after used group CPU module processing
Angular speed true value；
5, by calculated result feedback into determining program, suitable operating mode is switched according to output angular speed.See Fig. 3 institute
Show；
Illustrate: laser gyro dynamic locking area processing method needs the angular speed for calculating output according to laser gyro to cut
Suitable operating mode is changed, in order to avoid mission nonlinear phenomenon within the scope of dynamic locking area as far as possible, therefore specific zero bias are worked
The setting of mode threshold range is greater than former dynamic locking area range.
6, system work terminates, and power module control circuit is cut off the power, and laser gyro work terminates.
To sum up, change the laser gyro dynamic locking area processing method of two-arm electric current based on Langmuir stream zero Drift Effects, relatively
In other dynamic locking area processing methods, cost and technical difficulty can effectively reduce, dynamic locking area influence is completely eliminated, effectively mentions
High measurement accuracy has good practical engineering application to be worth.
Claims (4)
1. a kind of laser gyro dynamic locking area processing method, it is characterised in that: laser gyro works in dynamic locking area range, leads to
Laser gyro two-arm voltage value is overregulated, so that laser gyro two-arm exports different current values, since Langmuir stream drift is imitated
It stress one specific zero bias value B of optical circulator output0, B0Range deducts the zero bias in 0.3 °/h~1 °/h, by measurement output angular velocity
Value B0Former dynamic locking area range can be accurately obtained actually enters angular speed true value.
2. requiring the laser gyro dynamic locking area processing method according to right 1, it is characterised in that: B0For 0.5 °/h.
3. laser gyro dynamic locking area according to claim 1 or 2 processing method, which is characterized in that specific step is as follows:
Step 1: starting laser gyro makes laser gyro be in normal mode of operation；
Step 2: as extraneous input angular velocity ωiWhen close to dynamic locking area range, it is used to group CPU module judgement and calculates an output angular velocity
Whether enter in set -0.25 ° of threshold range/h~0.25 °/h comprising former dynamic locking area, if so, used group CPU module
Mode control signal is sent to power module, power module control circuit changes laser gyro two-arm size of current, laser top
Spiral shell is switched to specific zero bias operating mode, it is made to export zero bias value B0For 0.5 °/h；
Step 3: used group CPU module counting circuit part record is by specific zero bias B0With input angular velocity ωiCaused laser gyro
Reality output umber of pulse, to the signal reflect to after demodulation, send it to a used group CPU module calculation processing part；
Step 4: the zero bias B that used group CPU module calculation processing part is exported according to specific zero bias operating mode0, in reality output arteries and veins
It rushes in number and deducts, calculate to obtain pulse true value, while according to constant multiplier parameter, calculate and export and actually enter angular speed true value；
Step 5: by calculated result feedback into used group of CPU module determining program, suitable work being switched according to output angular velocity
Mode；
Step 6: system work terminates, and power module control circuit is cut off the power, and laser gyro work terminates.
4. laser gyro dynamic locking area according to claim 3 processing method, it is characterised in that: the laser gyro is dynamic
The area Tai Suo processing method, step 3, step 4 require the laser gyro two-arm electric current in specific zero bias operating mode in step 5
The difference kept constant, single armed discharge current stability are better than 1 × 10-4, the stability of two-arm current differential is better than 2 × 10-5, it is better than the specific zero bias B of 1ppm using Langmuir stream zero Drift Effects output stability0。
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Cited By (2)
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| CN113008899A (en) * | 2021-02-25 | 2021-06-22 | 北京航天时代激光导航技术有限责任公司 | Method for pre-screening laser gyroscope clamping jackscrew |
| CN115762253A (en) * | 2022-12-12 | 2023-03-07 | 华中光电技术研究所(中国船舶集团有限公司第七一七研究所) | Laser gyro teaching demonstration device and method |
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| CN113008899A (en) * | 2021-02-25 | 2021-06-22 | 北京航天时代激光导航技术有限责任公司 | Method for pre-screening laser gyroscope clamping jackscrew |
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| CN115762253A (en) * | 2022-12-12 | 2023-03-07 | 华中光电技术研究所(中国船舶集团有限公司第七一七研究所) | Laser gyro teaching demonstration device and method |
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