CN109556591B - Passive laser gyroscope based on ultrastable laser - Google Patents

Passive laser gyroscope based on ultrastable laser Download PDF

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CN109556591B
CN109556591B CN201811403103.7A CN201811403103A CN109556591B CN 109556591 B CN109556591 B CN 109556591B CN 201811403103 A CN201811403103 A CN 201811403103A CN 109556591 B CN109556591 B CN 109556591B
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CN109556591A (en
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张洁
柳奎
张风雷
陆泽晃
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Huazhong University of Science and Technology
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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
    • G01C19/66—Ring laser gyrometers
    • G01C19/661—Ring laser gyrometers details

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Abstract

The invention discloses a passive laser gyroscope based on ultrastable laser, which comprises an ultrastable laser light source device, a high-Q-value annular cavity interferometer device and a beat frequency detection device, wherein the laser output laser frequency of the laser is locked to an ultrastable Fabry-Perot cavity resonance peak and is simultaneously locked to a femtosecond optical comb linked to an atomic frequency standard, so that an ultrastable laser source with both short stability and long stability is obtained; the perimeter of the annular cavity is locked to the frequency of the ultrastable laser source injected in the anticlockwise direction, and the frequency of the laser injected in the clockwise direction is locked to the same resonant peak of the cavity; the beat frequency detection device detects beat frequencies of light overflowing from two directions in the cavity to obtain Sagnac signals, and the rotation angular speed is determined through the Sagnac signals. The invention improves the interference signal-to-noise ratio of the laser gyroscope by using the ultrastable laser as the injection light source of the passive laser gyroscope, and simultaneously improves the stability of the scale factor of the gyroscope, thereby improving the stability of the whole gyroscope system, prolonging the integral average time and obtaining better rotation measurement resolution.

Description

Passive laser gyroscope based on ultrastable laser
Technical Field
The invention belongs to the field of laser gyroscopes, and particularly relates to a passive laser gyroscope based on an ultrastable laser technology.
Background
Laser gyroscopes are used in the fields of inertial navigation, geophysical, basic physics, etc. because of their excellent rotation rate measurement performance. Over the past 40 years, laser gyroscopes have become the most important instrument in the fields of inertial navigation and precision rotation measurement, and are subject to high resolution, good stability and wide dynamic rangeThe favor of researchers in the research and industrial fields. The laser gyroscope is based on Sagnac effect, proposed by the french scientist Sagnac in 1913, in a ring cavity, if there is rotation in the propagation plane of light, the actual optical path traveled by clockwise propagating light and counterclockwise propagating light is not equal, and if two beams of light resonate with the same resonant peak of the ring cavity at the same time, the relationship between the difference of their resonant frequencies and the rotation angular velocity can be expressed as:
Figure GDA0002571310890000011
wherein f issagnacIs the frequency difference we measure between the two directionally resonant lasers, also known as the Sagnac frequency, where
Figure GDA0002571310890000012
Referred to as scale factors, a is the surrounding area of the ring cavity, λ is the wavelength of the laser light, P is the circumference of the ring cavity, and Ω is the angular velocity of rotation of the ring cavity. It can be seen that the larger the surrounding area of the laser gyro, the larger the scale factor thereof, and the higher the measurement sensitivity thereof.
Most of the existing gyroscopes are active laser gyroscopes, that is, a loop laser interferometer composed of four high-reflection cavity mirrors is filled with He-Ne gas gain media, and the loop laser interferometers are active loop lasers, and the frequency difference of laser output resonated in the clockwise direction and the counterclockwise direction is the Sagnac frequency. The design idea of the active laser gyroscope is relatively simple and direct, and the current limiting factors mainly come from two aspects: firstly, the interference is limited by spontaneous radiation noise and the disturbance of medium in a cavity; and secondly, the jitter frequency offset and other frequency offset technologies for overcoming the frequency locking phenomenon of the laser gyroscope lose the stability of the laser gyroscope.
The passive laser gyroscope laser source is positioned outside the annular cavity, so that spontaneous radiation noise and disturbance of an in-cavity medium can be effectively avoided, and the frequency locking phenomenon widely existing in the laser gyroscope can be effectively avoided by using an external modulation method. However, passive gyroscopes are generally limited by the stability of the injected laser source and the stability of the ring cavity itself, and neither good slew rate detection sensitivity nor long integration time averaging to achieve good slew rate resolution can be achieved. In order to solve the problem, patent document CN 103047979B provides a method for locking the center frequency of a laser signal on the resonant frequency of the fabry-perot cavity by using a feedback manner, so as to realize the narrowing of the laser line width output by the laser device and the stabilization of the laser frequency, and improve the measurement accuracy and sensitivity of the rotational angular velocity of the laser gyroscope, but it does not solve the long-term drift problem of the resonant frequency of the fabry-perot cavity, the integration average time of the passive laser gyroscope is very limited, and besides, it also does not provide a stabilization or post-processing scheme for the passive laser gyroscope.
Disclosure of Invention
In view of the above defects or improvement requirements of the prior art, the present invention provides a passive laser gyroscope based on ultrastable laser, which aims to solve the problem of insufficient detection resolution caused by injected laser noise and poor gyroscope stability in the conventional passive laser gyroscope, and by improving the stability of the injected laser source and the stability of scale factors of the passive laser gyroscope, the laser linewidth is far smaller than the linewidth of an annular cavity, the signal-to-noise ratio of an interference signal of the laser gyroscope is improved, and meanwhile, the rotation detection sensitivity and the long-term operation integration time of the laser gyroscope are improved, and finally, the rotation detection resolution is improved.
To achieve the above object, according to one aspect of the present invention, there is provided a passive laser gyro based on ultrastable laser, including: the system comprises an ultrastable laser light source device, a high-Q-value annular cavity interferometer device and a beat frequency detection device; the ultrastable laser light source device comprises: the device comprises a laser device, a Fabry-Perot cavity device, a femtosecond optical comb device and an atomic frequency standard device; the laser device respectively provides laser signals for the Fabry-Perot cavity device, the femtosecond optical comb device and the high-Q-value annular cavity interferometer device, the frequency of the laser signals is simultaneously locked to the Fabry-Perot cavity device and the femtosecond optical comb device, and meanwhile, the femtosecond optical comb device locks the self repetition frequency and the zero-bias frequency to the atomic frequency standard device, so that the laser device finally outputs the frequency of the laser signals and has the short-term stability of the Fabry-Perot cavity device and the long-term stability of the atomic frequency standard device; the high-Q-value annular cavity interferometer device is used for constructing a passive laser gyroscope interference light path, and the laser device outputs laser signals which are divided into two paths after the frequency is stabilized for a long time and a short time and respectively injected into the high-Q-value annular cavity interferometer device along the anticlockwise direction and the clockwise direction; injecting a laser signal in the anticlockwise direction to serve as a length reference, locking the resonant frequency of the high-Q-value annular cavity interferometer device to the frequency of the laser signal through a cavity length frequency locking device, and injecting the laser signal in the clockwise direction to the high-Q-value annular cavity interferometer device and locking the frequency of the laser signal to the resonant frequency of the high-Q-value annular cavity interferometer device; beat frequency detection means for detecting a Sagnac signal which is a difference between the frequencies of the laser signals respectively propagating in the counterclockwise direction and the clockwise direction within the high-Q ring cavity interferometer apparatus, thereby determining the rotational angular velocity of the entire apparatus.
The atomic frequency standard device in the ultrastable laser light source device can be realized by using a stable reference source, such as a rubidium clock, a cesium clock, a hydrogen clock, an optical frequency standard and the like; the combination of the femtosecond optical comb device and the frequency scale device in the ultrastable laser source device can be replaced by a frequency stabilization system of iodine molecules, rubidium atoms and cesium atoms.
Still further, the passive laser gyro further includes: the device comprises a first laser transmission unit, a first feedback unit, a second laser transmission unit and a second feedback unit; the first input end of the second laser transmission unit is connected to the output end of the femtosecond optical comb device, the second input end of the second laser transmission unit is connected to the output end of the laser device, the input end of the second feedback unit is connected to the output end of the second laser transmission unit, and the output end of the second feedback unit is connected to the first input end of the laser device; the input end of the first laser transmission unit is connected to the output end of the laser device, the input end and the output end of the first laser transmission unit are connected with the Fabry-Perot cavity device, the input end of the first feedback unit is connected to the output end of the first laser transmission unit, and the output end of the first feedback unit is connected to the second input end; the first laser transmission unit is used for transmitting a laser signal output by a laser device to the Fabry-Perot cavity device; the first feedback unit is used for locking the frequency of a laser signal output by a laser device to the Fabry-Perot cavity; the second laser transmission unit is used for transmitting the laser signal output by the laser device to the femtosecond optical comb device; the second feedback unit is used for locking the frequency of the laser signal output by the laser device to the femtosecond optical comb device.
Further, the frequency of the laser signal output from the laser device is stabilized by the fabry-perot cavity device and the femtosecond optical comb device linked to the atomic frequency scale device.
Furthermore, the short-term stability of the frequency of a laser signal output by the laser device is stabilized by the fabry-perot cavity device, a laser beam reflected by the laser signal through the second beam splitter is phase-modulated by the first electro-optic modulator and then reflected into the fabry-perot cavity device by the optical isolator, the laser signal is reflected after interacting with the fabry-perot cavity device, the signal is detected at the first electro-optic detector, the obtained error signal is demodulated and then fed back to the laser device through the first servo amplifier, the frequency of the laser signal output by the laser device is locked on the resonance peak of the fabry-perot cavity device, and the excellent short-term stability of the fabry-perot cavity device is obtained; the long-term stability of the frequency of the laser signal output by the laser device is stabilized by the femtosecond optical comb device which is linked to the atomic frequency standard device, one laser beam reflected by the laser signal through the first spectroscope and the emergent laser signal of the femtosecond optical comb device which is linked to the atomic frequency standard device are combined into one laser beam through the third spectroscope, the beat frequency signal is detected on the second photoelectric detector, the obtained signal is fed back to the laser device after passing through the second servo amplifier, and the frequency of the laser signal output by the laser device is locked to the femtosecond optical comb device which is linked to the atomic frequency standard device, so that the laser device has the long-term stability of the atomic frequency standard device.
Still further, a high-Q ring cavity interferometer apparatus comprising: the gyroscope laser preparation unit, the third laser transmission unit, the fourth laser transmission unit, the annular cavity, the third feedback unit and the fourth feedback unit; the first laser signal is connected with the input end of the gyro laser preparation unit, the first output end of the gyro laser preparation unit is connected with the input end of the third laser transmission unit, the second output end of the gyro laser preparation unit is connected with the input end of the fourth laser transmission unit, the input and output end of the third laser transmission unit is connected with the annular cavity, and the input and output end of the fourth laser transmission unit is connected with the annular cavity; the input end of the third feedback unit is connected to the second output end of the fourth laser transmission unit, and the input end of the fourth feedback unit is connected to the second output end of the third laser transmission unit; the output end of the third feedback unit is connected to the other input end of the ring cavity, and the output end of the fourth feedback unit is connected to the other input end of the fourth laser transmission unit; the gyro laser preparation unit is used for carrying out phase modulation on the first laser signal and equally dividing the first laser signal into two beams; the third laser transmission unit is used for transmitting and injecting the laser signal output by the gyro laser preparation unit into the annular cavity; the fourth laser transmission unit is used for transmitting and injecting the other laser signal output by the gyro laser preparation unit into the annular cavity; the annular cavity is used for generating resonance and interference of two beams of injected laser signals respectively; the third feedback unit is used for servo-feeding an error signal between the resonant peak of the ring cavity and the laser signal injected along the anticlockwise direction back to the piezoelectric ceramic; the fourth feedback unit is used for servo-feeding an error signal between the ring cavity resonance peak and the laser signal injected along the clockwise direction to the second acousto-optic modulator.
Further, the cavity length of the ring cavity is stabilized by the ultrastable laser injected in the counter-clockwise direction: injecting a first laser signal along the anticlockwise direction, carrying out phase modulation through a second electro-optic modulator, generating a carrier signal of laser and two sideband signals with equal amplitude and opposite amplitude after phase modulation, directly reflecting the sidebands by a ring cavity, reflecting the carrier signal and the sidebands to a third photoelectric detector together through a second Faraday isolator after interaction of the carrier and the cavity, detecting the detuning quantity of the laser carrier frequency and the resonant peak of the ring cavity through the third photoelectric detector, demodulating to obtain an error signal, finally feeding back the error signal to piezoelectric ceramic to push a fourth high-reflectivity cavity mirror, changing the cavity length of the ring cavity, and locking the cavity length of the ring cavity to the frequency of injecting the laser signal along the anticlockwise direction.
Further, the edgeThe ultrastable laser signal injected in the clockwise direction passes through the second acousto-optic modulator, and is frequency-locked to the cavity length of the ring cavity, wherein: injecting a laser signal sideband along the clockwise direction to be reflected by the ring cavity, reflecting the laser signal sideband with the sideband by the first Faraday isolator to the fourth photoelectric detector after the carrier interacts with the cavity, detecting the detuning amount of the laser carrier frequency and the ring cavity resonance peak by the fourth photoelectric detector, demodulating to obtain an error signal, and finally feeding the error signal back to the second sound optical modulator to drive the voltage-controlled oscillator to change the modulation frequency f of the second sound optical modulator2So that the frequency of the laser injected in the clockwise direction resonates with the ring cavity, and the frequency of the laser injected in the clockwise direction is locked to the length of the ring cavity.
Further, the Sagnac signal is obtained by using the difference between the modulation frequencies of the first acousto-optic modulator and the second acousto-optic modulator, or by using beat frequency detection of the overflow light from the two rear directions of the cavity.
Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects:
(1) according to the invention, the injection light source of the passive laser gyroscope is simultaneously stabilized to the ultrastable Fabry-Perot cavity and the femtosecond optical comb linked to the hydrogen clock, so that the injection light source of the passive laser gyroscope has both short-term stability and long-term stability, the laser line width is far smaller than the line width of the annular cavity, the signal-to-noise ratio of interference signals of the laser gyroscope is improved, the rotation detection sensitivity of the passive laser gyroscope is improved by 2-3 orders of magnitude, and the detection resolution under long integration time is improved.
(2) Piezoelectric ceramics are arranged on one cavity mirror of the annular cavity, and the stability of the scale factor of the laser gyroscope is improved by locking the annular cavity to the ultrastable laser source.
Drawings
FIG. 1 is a general structural diagram of a passive laser gyro based on ultrastable laser according to the present invention;
FIG. 2 is a schematic diagram of an embodiment of the ultrastable laser light source device of the present invention;
FIG. 3 is a schematic diagram of one embodiment of a high Q ring cavity interferometer apparatus of the present invention;
fig. 4 is a schematic diagram of an embodiment of the beat frequency detection apparatus according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a passive laser gyroscope based on ultrastable laser, and fig. 1 is a general structure diagram of the invention, which mainly comprises an ultrastable laser light source device 100, a high-Q value ring cavity interferometer device 200 and a beat frequency detection device 300. The ultrastable laser light source device 100 includes: the device comprises a laser device 101, a Fabry-Perot cavity device 102, a femtosecond optical comb device 103 and an atomic frequency standard device 104.
Wherein, a part of the laser signal output by the laser device 101 is output to the Fabry-Perot cavity device 102, an error signal is obtained after interaction with the Fabry-Perot cavity device 102, the error signal is fed back to the laser device 101, and the frequency of the output laser signal of the laser device 101 is locked to the Fabry-Perot cavity resonance peak in the Fabry-Perot cavity device 102, so as to stabilize the short-term stability of the frequency of the output laser signal of the laser device 101;
the laser device 101 outputs the other part of the laser signal to the femtosecond optical comb device 103, the femtosecond optical comb device 103 has the stability of a hydrogen clock by utilizing the characteristics of the femtosecond optical comb device 103 and the device is locked to the atomic frequency standard device 104, the laser signal output to the femtosecond optical comb device 103 by the laser device 101 is acted with the output light of the femtosecond optical comb device 103, and the obtained error signal is fed back to the laser device 101 for stabilizing the long-term stability of the frequency of the output laser signal of the laser device 101;
according to one embodiment of the invention, the Fabry-Perot cavity device 102 can adopt an ultra-high stable Fabry-Perot cavity, and the laser signal locked to the Fabry-Perot cavity is stable for a short timeSexual Allen deviation of better than 10-12Preferably, it may be better than 10-13、10-14、10-15、10-16、10-17Or 10-18；
According to an embodiment of the present invention, a hydrogen clock may be used as the atomic frequency standard device 104, i.e. a long-term stable reference source, the femtosecond optical comb device 103 is linked to the hydrogen clock, and the long-term stable Allen deviation of the laser signal locked to the femtosecond optical comb may be better than 10-12Preferably, it may be better than 10-13、10-14、10-15、10-16(ii) a Preferably, other reference sources such as molecular iodine frequency standard, optical clock, etc. can be used, preferably, the long-term stability can be better than 10-13、10-14、10-15、10-16、10-17、10-18Or 10-19。
Fig. 2 is a schematic diagram of an embodiment of the ultrastable laser light source device according to the present invention. In the drawings of the present invention, a thick solid line indicates an optical path, and a thick broken line indicates an electric circuit. The ultrastable laser light source device 100 includes: the system comprises a laser device 101, a Fabry-Perot cavity device 102, a femtosecond optical comb device 103, an atomic frequency standard device 104, a first laser transmission unit 105, a first feedback unit 106, a second laser transmission unit 107 and a second feedback unit 108; the laser device 101 is used for providing laser signals for the whole system, the fabry-perot cavity device 102 is used for a short-term stable reference source of the laser signals, the femtosecond optical comb device 103 is used for linking the laser signals and atomic frequency scale output signals, the atomic frequency scale device 104 is used for a short-term stable reference source of the laser signals, the first laser transmission unit 105 is used for transmitting the laser signals output by the laser device 101 to the fabry-perot cavity 102, the first feedback unit 106 is used for locking the frequency of the laser signals output by the laser device 101 to the fabry-perot cavity 102, the second laser transmission unit 107 is used for transmitting the laser signals output by the laser device 101 to the femtosecond optical comb device 103, and the second feedback unit 108 is used for locking the frequency of the laser signals output by the laser device 101 to the femtosecond optical comb device 103.
Wherein, laser device 101 includes: a laser 1011 and a first beam splitter 1012 provided on an outgoing optical path of the laser 1011; the laser 1011 is used for emitting an original laser signal, and the first beam splitter 1012 is used for equally dividing the laser into two beams;
the first laser transmission unit 105 includes: a second beam splitter 1051, a first electro-optical modulator 1052, and an optical isolator 1053; one path of laser signal emitted by the laser device 101 is partially reflected by the second beam splitter 1051 and then sequentially passes through the first electro-optical modulator 1052 and the optical isolator 1053 to reach the Fabry-Perot cavity 102; the second spectroscope 1051 is used for partially reflecting and transmitting laser signals, the first electro-optic modulator 1052 is used for carrying out phase modulation on the laser signals, and the optical isolator 1053 is used for reflecting the laser signals to the Fabry-Perot cavity 102 and receiving the laser signals returned by the Fabry-Perot cavity 102.
The first feedback unit 106 includes: a first photodetector 1061 and a first servo amplifier 1062; the first photodetector 1061 is disposed behind the optical isolator 1053 and is used for detecting the laser signal returned from the fabry-perot cavity 102, and the first servo amplifier 1062 is disposed between the first photodetector 1061 and the laser 1011 and is used for demodulation, amplification and servo feedback of the short-loop error signal.
The second laser transmission unit 107 includes: a third spectroscope 1071; the third beam splitter 1071 is disposed between the laser device 101 and the femtosecond optical comb 103, and is used for combining the laser signal output by the laser device 101 and the transmission signal output by the femtosecond optical comb 103.
The second feedback unit 108 includes: a second photodetector 1081 and a second servo amplifier 1082; the second photodetector 1081 is disposed behind the third beam splitter 1071 for detecting the beat signal of the laser signal output by the laser device 101 and the output signal of the femtosecond optical comb 103, and the second servo amplifier 1082 is disposed between the second photodetector 1081 and the laser 1011 for demodulation, amplification and servo feedback of the long stable loop error signal.
The laser signal emitted by the laser 1011 passes through the first beam splitter 1012, a split laser beam is reflected by the second beam splitter 1051, phase-modulated by the first electro-optic modulator 1052 and then reflected to the Fabry-Perot cavity 102 by the optical isolator 1053, the laser signal is reflected after interacting with the Fabry-Perot cavity 102, a signal is detected at the first photoelectric detector 1061, the obtained error signal is demodulated, then fed back to the laser 1011 after passing through the first servo amplifier 1062, and the frequency of the laser signal output by the laser device 101 is locked on the resonance peak of the Fabry-Perot cavity 102, so that the superior short-term stability of the Fabry-Perot cavity 102 is obtained; the obtained other beam of laser and the emergent laser signal of the femtosecond optical comb device 103 linked to the hydrogen clock 104 are combined after passing through a third beam splitter 1071, a beat frequency signal is detected on a second photoelectric detector 1081, the obtained signal is fed back to the laser 1011 after passing through a second servo amplifier 1082, and the frequency of the laser signal output by the laser device 101 is locked on the femtosecond optical comb device 103 linked to the hydrogen clock 104, so that the laser device 101 has the long-term stability of the hydrogen clock 104; two paths of feedback are carried out simultaneously, so that the long-term frequency stability and the short-term frequency stability of the laser signal output by the laser device 101 are realized.
The laser signal transmitted by the second beam splitter 1051 is referred to as a first laser signal. The first laser signal is provided to the high-Q ring cavity interferometer apparatus 200 for use as a passive laser gyroscope light source.
In this particular embodiment, the laser may be a Nd: YAG solid state laser.
According to another embodiment of the present invention, the laser may be a fiber laser.
According to another embodiment of the invention, the hydrogen clock may be replaced by other atomic or optical clocks or other frequency scales.
FIG. 3 is a schematic diagram of one embodiment of a high Q ring cavity interferometer apparatus 200 of the present invention. In the drawings of the present invention, a thick solid line indicates an optical path, and a thick broken line indicates an electric circuit. high-Q ring cavity interferometer apparatus 200 comprises: a gyro laser preparation unit 201, a third laser transmission unit 202, a fourth laser transmission unit 203, a ring cavity 204, a third feedback unit 205, and a fourth feedback unit 206. The gyro laser preparation unit 201 is configured to perform phase modulation on a first laser signal and equally divide the first laser signal into two laser signals, the third laser transmission unit 202 is configured to transmit and inject the laser signal output by the gyro laser preparation unit 201 into the ring cavity 204, the fourth laser transmission unit 203 is configured to transmit and inject another laser signal output by the gyro laser preparation unit 201 into the ring cavity 204, the ring cavity 204 is configured to generate resonance and interfere with the two injected laser signals, the third feedback unit 205 is configured to servo-feed an error signal between a resonant peak of the ring cavity 204 and the laser signal injected in the counterclockwise direction to the piezoceramic 2045, and the fourth feedback unit 206 is configured to servo-feed an error signal between a resonant peak of the ring cavity 204 and the laser signal injected in the clockwise direction to the second acousto-optic modulator 2031.
Wherein, the gyro laser preparation unit 201 includes: a second electro-optical modulator 2011, a half-wave plate 2012 and a polarization beam splitter prism 2013 which are arranged on an emergent light path of the first laser signal; the second electro-optical modulator 2011 is used for modulating the phase of the first laser signal, the half-wave plate 2012 is used for adjusting the polarization state of the laser signal, and the polarization splitting prism 2013 is used for equally dividing the first laser signal into two parts;
the third laser transmission unit 202 includes: a first acousto-optic modulator 2021, a first reflector 2022, a first faraday isolator 2023; one path of laser signals emitted by the gyro laser preparation unit 201 sequentially passes through the first acousto-optic modulator 2021, the first reflector 2022 and the first faraday isolator 2023 to reach the ring cavity 204; the first acousto-optic modulator 2021 is used to shift the frequency of the laser signal to be injected into the ring cavity in the counter-clockwise direction, the first mirror 2022 is used to adjust the laser signal directivity, and the first faraday isolator 2023 is used to isolate and extract the laser signal propagating in the clockwise direction returned by the ring cavity 204.
The fourth laser transmission unit 203 includes: a second acousto-optic modulator 2031, a second mirror 2032, and a second faraday isolator 2033; another path of laser signals emitted by the gyro laser preparation unit 201 sequentially passes through the second acousto-optic modulator 2031, the second reflector 2032 and the second faraday isolator 2033 to reach the ring cavity 204; the second acousto-optic modulator 2031 is used to shift the frequency of the laser signal to be injected into the ring cavity clockwise, the second mirror 2032 is used to adjust the laser signal directivity, and the second faraday isolator 2033 is used to isolate and extract the laser signal propagating counterclockwise from the ring cavity 204.
The ring cavity 204 includes: a first high-reflectivity cavity mirror 2041, a second high-reflectivity cavity mirror 2042, a third high-reflectivity cavity mirror 2043, a fourth high-reflectivity cavity mirror 2044 and piezoelectric ceramics 2045; the first high-reflectivity cavity mirror 2041, the second high-reflectivity cavity mirror 2042, the third high-reflectivity cavity mirror 2043 and the fourth high-reflectivity cavity mirror 2044 are sequentially arranged to form a closed square annular cavity 204 for the two beams of injected laser signals to respectively generate resonance and interfere, and the piezoelectric ceramic 2045 is arranged behind the fourth high-reflectivity cavity mirror 2044 and used for pushing the cavity mirrors to change the cavity length of the annular cavity 204.
The third feedback unit 205 includes: a third photodetector 2051, a third servo amplifier 2052; a third photodetector 2051 is disposed behind the second faraday isolator 2033 and is configured to detect the laser signal returning from the ring cavity 204 and propagating in the counterclockwise direction, and a third servo amplifier 2052 is disposed between the third photodetector 2051 and the piezoceramic 2045 and is configured to demodulate, amplify, and servo-feed the cavity length locked loop error signal.
The fourth feedback unit 206 includes: a fourth photodetector 2061, a fourth servo amplifier 2062, and a second acousto-optic modulator driving voltage-controlled oscillator 2063; the fourth photodetector 2061 is disposed behind the first faraday isolator 2023, and then is sequentially connected to the fourth servo amplifier 2062, the second acousto-optic modulator driving voltage-controlled oscillator 2063, and the second acousto-optic modulator 2031; the fourth photo-detector 2061 is used to detect the laser signal returning from the ring cavity 204 and propagating in the clockwise direction, the fourth servo amplifier 2062 is used for demodulation, amplification and servo feedback of the frequency locked loop error signal, the second acousto-optic modulator driving voltage-controlled oscillator 2063 is used to provide a driving signal to the second acousto-optic modulator 2031, and the second acousto-optic modulator 2031 is used to shift the frequency of the laser signal passing through it.
Wherein the first laser signal provided by the ultrastable laser light source device 100 is phase-modulated by the second electro-optical modulator 2011, the phase-modulated laser signal generates a carrier signal of the laser and two sideband signals with equal amplitude and opposite amplitude, the frequency interval between the sideband signals and the carrier signal depends on the modulation frequency of the electro-optical modulator 201, and the phase-modulated first laser signalThe optical signal is equally divided into two laser signals through a half-wave plate 2012 and a polarization beam splitter prism 2013, and the laser signal reflected by the polarization beam splitter prism 2013 passes through a frequency shift f of a first acousto-optic modulator1Then, the mixed solution passes through a first reflector 2022 and a first faraday isolator 2023 and is injected into a ring cavity 204 formed by a first high-reflectivity cavity mirror 2041, a second high-reflectivity cavity mirror 2042, a third high-reflectivity cavity mirror 2043, a fourth high-reflectivity cavity mirror 2044 and piezoelectric ceramics 2045 along the counterclockwise direction; the laser signal transmitted by the polarization beam splitter prism 2013 is then frequency-shifted f by a second acousto-optic modulator2And then injected into the ring cavity 204 in a clockwise direction through the second mirror 2032 and the second faraday isolator 2033.
The first faraday isolator 2023 and the second faraday isolator 2033 are used to extract the laser signal reflected by the ring cavity from the clockwise injected laser and the laser signal reflected by the ring cavity from the counterclockwise injected laser, respectively. The faraday isolator isolation used is better than 60dB, preferably, may be better than 90 dB.
The laser signal sideband injected in the counterclockwise direction is directly reflected by the ring cavity, the carrier interacts with the cavity and then is reflected to the third photodetector 2051 together with the sideband by the second faraday isolator 2033, the detuning quantity of the laser carrier frequency and the ring cavity resonant peak is detected by the third photodetector 2051, an error signal is obtained by demodulation and finally fed back to the piezoelectric ceramic 2045 to push the fourth high-reflectivity cavity mirror 2044 and change the cavity length of the ring cavity, so that the cavity length of the ring cavity is locked to the frequency of the laser signal injected in the counterclockwise direction.
Suppose that the frequency of the first laser signal is v0Then, the frequency of the laser propagating in the counterclockwise direction in the ring cavity is: v. ofccw＝v0+f1(ii) a The laser signal sideband injected in the clockwise direction is also reflected by the ring cavity, the carrier wave and the cavity interact with each other and then are reflected to the fourth photoelectric detector 2061 by the first faraday isolator 2023 together with the sideband, the detuning quantity of the laser carrier frequency and the ring cavity resonance peak is detected by the fourth photoelectric detector 2061, an error signal is obtained by demodulation and finally fed back to the second acousto-optic modulatorThe voltage-controlled oscillator 2063 is driven by the modulator to change the modulation frequency f of the second acousto-optic modulator2The frequency of the laser injected clockwise is made to resonate with the ring cavity, thus locking the frequency of the laser injected clockwise to the length of the ring cavity. Suppose that the frequency of the first laser signal is v0Then the frequency of the laser propagating in the ring cavity in the clockwise direction is: v. ofcw＝v0+f2(ii) a The first acousto-optic modulator 2021 and the second acousto-optic modulator 2031 are the same type of modulation devices, and the frequency shift directions are the same, so that the two laser beams resonate with the same longitudinal mode of the ring cavity, and due to the rotation of the ring cavity, the two laser beams generate a frequency shift denoted as fsagnacIt can be expressed as: f. ofsagnac＝f1-f2That is, the difference between the modulation frequencies of the first acousto-optic modulator 2021 and the second acousto-optic modulator 2031 is equal to the Sagnac frequency.
Fig. 4 is a schematic diagram of an embodiment of the beat frequency detection apparatus according to the present invention. The method comprises the following steps: a reflector 301, a reflector 302, a beam combining prism 303 and a fifth photodetector 304; the reflector 301 is disposed between the third high-reflectivity cavity mirror 2043 and the beam combining prism 303 to reflect and adjust the overflow laser signal in the counterclockwise direction, the reflector 302 is disposed between the third high-reflectivity cavity mirror 2043 and the beam combining prism 303 to reflect and adjust the overflow laser signal in the clockwise direction, the beam combining prism 303 is used for combining the overflow laser signals in two directions in the cavity, and the fifth photodetector 304 disposed behind the beam combining prism is used for beat frequency detection of the overflow laser signal in two directions in the cavity. The beat frequency is the Sagnac frequency we need to detect.
Aiming at the detection sensitivity and the detection resolution of the conventional large laser gyroscope, the invention provides a passive laser gyroscope based on ultrastable laser, which can further improve the detection sensitivity of the passive laser gyroscope and improve the stability of scale factors, thereby improving the stability of the whole gyroscope system, obtaining the long-time integral average effect and obtaining better rotation measurement resolution.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (7)

1. A passive laser gyroscope based on ultrastable laser, the passive laser gyroscope comprising: the system comprises an ultrastable laser light source device (100), a high-Q ring cavity interferometer device (200) and a beat frequency detection device (300);
the ultrastable laser light source device comprises: the device comprises a laser device (101), a Fabry-Perot cavity device (102), a femtosecond optical comb device (103) and an atomic frequency standard device (104);
the laser device (101) provides laser signals to the Fabry-Perot cavity device (102), the femtosecond optical comb device (103) and the high-Q-value ring cavity interferometer device (200) respectively, the frequency of the laser signals is simultaneously locked to the Fabry-Perot cavity device (102) and the femtosecond optical comb device (103), meanwhile, the femtosecond optical comb device (103) locks the self repetition frequency and the zero-bias frequency to the atomic frequency standard device (104), and the laser signal frequency finally output by the laser device is enabled to have both the short-term stability of the Fabry-Perot cavity device and the long-term stability of the atomic frequency standard device;
the high-Q-value annular cavity interferometer device (200) is used for constructing a passive laser gyroscope interference light path, and the laser device outputs laser signals which are divided into two paths after the frequency is stabilized for a long time and a short time and respectively injected into the high-Q-value annular cavity interferometer device along the anticlockwise direction and the clockwise direction; injecting a laser signal in the anticlockwise direction to serve as a length reference, locking the resonant frequency of the high-Q-value annular cavity interferometer device to the frequency of the laser signal through a cavity length frequency locking device, and injecting the laser signal in the clockwise direction to the high-Q-value annular cavity interferometer device and locking the frequency of the laser signal to the resonant frequency of the high-Q-value annular cavity interferometer device;
the beat frequency detection device (300) is used for detecting that the difference between the frequencies of the laser signals respectively propagating along the counterclockwise direction and the clockwise direction in the high-Q-value ring cavity interferometer device (200) is a Sagnac signal, so as to determine the rotation angular velocity of the whole device;
the passive laser gyro further includes: a first laser transmission unit (105), a first feedback unit (106), a second laser transmission unit (107) and a second feedback unit (108);
a first input end of a second laser transmission unit (107) is connected to an output end of the femtosecond optical comb device (103), a second input end of the second laser transmission unit (107) is connected to an output end of the laser device (101), an input end of a second feedback unit (108) is connected to an output end of the second laser transmission unit (107), and an output end of the second feedback unit (108) is connected to a first input end of the laser device (101);
the input end of a first laser transmission unit (105) is connected to the output end of the laser device (101), the input end and the output end of the first laser transmission unit (105) are connected with the Fabry-Perot cavity device (102), the input end of a first feedback unit (106) is connected to the output end of the first laser transmission unit (105), and the output end of the first feedback unit (106) is connected to the second input end of the laser device (101);
the first laser transmission unit (105) is used for transmitting a laser signal output by a laser device (101) to the Fabry-Perot cavity device (102);
the first feedback unit (106) is used for locking the frequency of a laser signal output by the laser device (101) to the Fabry-Perot cavity device (102);
the second laser transmission unit (107) is used for transmitting the laser signal output by the laser device (101) to the femtosecond optical comb device (103);
the second feedback unit (108) is used for locking the frequency of the laser signal output by the laser device (101) to the femtosecond optical comb device (103).
2. The passive laser gyroscope of claim 1, characterized in that the frequency of the laser signal output by the laser device (101) is stabilized by a fabry-perot cavity device (102) and a femtosecond optical comb device (103) linked to an atomic frequency scale device (104).
3. The passive laser gyro of claim 2, wherein the short term stability of the frequency of the laser signal output by the laser device (101) is stabilized by the Fabry-Perot cavity device (102), and a laser beam reflected by the second beam splitter (1051) is phase-modulated by the first electro-optical modulator (1052) and then reflected by the optical isolator (1053) into the Fabry-Perot cavity device (102), the laser signal is reflected after interacting with the Fabry-Perot cavity device (102), the signal is detected at a first photoelectric detector (1061), the obtained error signal is demodulated and then fed back to the laser device (101) through a first servo amplifier (1062), the frequency of the laser signal output by the laser device (101) is locked to the resonance peak of the Fabry-Perot cavity device (102), and the excellent short-term stability of the Fabry-Perot cavity device (102) is obtained;
the long-term stability of the frequency of the laser signal output by the laser device (101) is stabilized by the femtosecond optical comb device (103) which is linked to the atomic frequency standard device (104), the laser signal is synthesized into a laser beam by a laser beam reflected by the first beam splitter (1012) and an emergent laser signal of the femtosecond optical comb device (103) which is linked to the atomic frequency standard device (104) after passing through the third beam splitter (1071), a beat frequency signal is detected on the second photoelectric detector (1081), the obtained signal is fed back to the laser device (101) after passing through the second servo amplifier (1082), the frequency of the laser signal output by the laser device is locked to the femtosecond optical comb device (103) which is linked to the atomic frequency standard device (104), and the laser device (101) has the long-term stability of the atomic frequency standard device (104).
4. The passive laser gyroscope of claim 1, characterized in that the high-Q ring cavity interferometer apparatus (200) comprises: a gyro laser preparation unit (201), a third laser transmission unit (202), a fourth laser transmission unit (203), a ring cavity (204), a third feedback unit (205) and a fourth feedback unit (206);
the first laser signal is connected with the input end of a gyro laser preparation unit (201), the first output end of the gyro laser preparation unit (201) is connected to the input end of a third laser transmission unit (202), the second output end of the gyro laser preparation unit (201) is connected to the input end of a fourth laser transmission unit (203), the input and output end of the third laser transmission unit (202) is connected with an annular cavity (204), and the input and output end of the fourth laser transmission unit (203) is connected with the annular cavity (204); the input end of the third feedback unit (205) is connected to the second output end of the fourth laser transmission unit (203), and the input end of the fourth feedback unit (206) is connected to the second output end of the third laser transmission unit (202); the output end of the third feedback unit (205) is connected to the other input end of the ring cavity (204), and the output end of the fourth feedback unit (206) is connected to the other input end of the fourth laser transmission unit (203);
the gyro laser preparation unit (201) is used for carrying out phase modulation on a first laser signal and equally dividing the first laser signal into two beams;
the third laser transmission unit (202) is used for transmitting and injecting the laser signal output by the gyro laser preparation unit (201) into the ring cavity (204);
the fourth laser transmission unit (203) is used for transmitting and injecting another laser signal output by the gyro laser preparation unit (201) into the ring cavity (204);
the ring cavity (204) is used for generating resonance and interference for the two injected laser signals respectively;
the third feedback unit (205) is used for servo-feeding an error signal between a resonant peak of the annular cavity (204) and the laser signal injected along the anticlockwise direction to the piezoelectric ceramic (2045);
the fourth feedback unit (206) is used for servo-feeding an error signal between a resonance peak of the annular cavity (204) and the laser signal injected in the clockwise direction to the second acousto-optic modulator (2031).
5. The passive laser gyroscope of claim 4, characterized in that the cavity length of the ring cavity (204) is stabilized by ultrastable laser light injected in a counter-clockwise direction:
injecting a first laser signal along the anticlockwise direction, carrying out phase modulation through a second electro-optic modulator (2011), generating a carrier signal of laser and two sideband signals with equal amplitude and opposite amplitude after phase modulation, directly reflecting the sidebands by a ring cavity, reflecting the carrier signal and the sidebands together to a third photoelectric detector (2051) through a second Faraday isolator (2033) after interaction of the carrier and the cavity, detecting the detuning quantity of the carrier frequency of the laser and the resonant peak of the ring cavity through the third photoelectric detector (2051), demodulating to obtain an error signal, finally feeding the error signal back to a piezoelectric ceramic (2045) to push a fourth high reflectivity (2044), changing the cavity length of the ring cavity, and locking the cavity length of the ring cavity (204) to the frequency of the laser signal injected along the anticlockwise direction.
6. The passive laser gyro of claim 4 or 5, characterized in that the ultrastable laser signal injected in the clockwise direction is frequency-locked to the cavity length of the ring cavity (204) by a second acousto-optical modulator (2031), wherein:
injecting a laser signal sideband along the clockwise direction to be reflected by the ring cavity, reflecting the sideband with the sideband by a first Faraday isolator (2023) to a fourth photoelectric detector (2061) after the carrier interacts with the cavity, detecting the detuning quantity of the laser carrier frequency and the ring cavity resonance peak by the fourth photoelectric detector (2061), demodulating to obtain an error signal, and finally feeding the error signal back to a second sound optical modulator to drive a voltage-controlled oscillator (2063) to change the modulation frequency f of the second sound optical modulator2So that the frequency of the laser injected in the clockwise direction resonates with the ring cavity, and the frequency of the laser injected in the clockwise direction is locked to the length of the ring cavity.
7. Passive laser gyro according to claim 1, characterized in that the Sagnac signal is obtained by the difference between the modulation frequencies of the first acousto-optic modulator (2021) and the second acousto-optic modulator (2031), or by the detection of the beat frequency of the overflow light from the two directions behind the cavity.
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