CN110006417A - A kind of random four states modulator approach of digital closed-loop optic fiber gyroscope - Google Patents
A kind of random four states modulator approach of digital closed-loop optic fiber gyroscope Download PDFInfo
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- CN110006417A CN110006417A CN201910199136.2A CN201910199136A CN110006417A CN 110006417 A CN110006417 A CN 110006417A CN 201910199136 A CN201910199136 A CN 201910199136A CN 110006417 A CN110006417 A CN 110006417A
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- modulation
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- random
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- demodulation
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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
- 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
- G01C19/721—Details
Abstract
The invention discloses a kind of random four states modulator approaches of digital closed-loop optic fiber gyroscope, comprising: generates pseudo-random number sequence using pseudorandom number generator, and establishes polymorphic modulation condition memory and state transfer square；Construction Stochastic Modulation mode selector selects any one pseudo random number, and a modulation condition is selected from polymorphic modulation condition memory；According to pseudo random number and the transfer output of modulation condition bonding state transfer matrix completion status；Modulation condition delayer is established, four state phase of Stochastic Modulation is generated, demodulation mark is generated based on four state phase combination of Stochastic Modulation；Indicate the demodulation for completing optical fibre gyro angular speed and 2 π voltages using demodulation.Technical solution of the present invention is for Modelling of Random Drift of Gyroscopes and dead-time problem caused by cross talk of electrons between digital closed-loop optic fiber gyroscope modulation-demodulation signal, using the random four states modulator approach of optical fibre gyro, optical fiber gyroscope precision can be improved, guarantee optical fibre gyro job stability, there is biggish realistic meaning.
Description
Technical field
The invention belongs to optical fibre gyro fields, and in particular to a kind of random four states modulator approach of digital closed-loop optic fiber gyroscope.
Background technique
Optical fibre gyro is a kind of angular rate sensor based on Sagnac effect, since its is at low cost, simple process, reliable
Property it is high, anti shock and vibration ability is strong, application prospect has attracted much attention, and has become one of sensor of mainstream.Number is closed at present
Ring optical fibre gyro is because, there are cross talk of electrons error, leading to gyro between its Y waveguide phase modulated signal and detector output signal
There are random drift and dead zone phenomenons.
It is main to use in the prior art for the cross talk of electrons problem between digital closed-loop optic fiber gyroscope modulation-demodulation signal
Random phase hopping modulation method is solved.Specifically, random phase hopping modulation method, using with reset not phase
The Stochastic Modulation signal of pass, keeps modulated signal crosstalk uncorrelated to demodulated signal, therefore can filter out cross talk of electrons error and bring
Random drift and dead zone phenomenon.Random phase modulation method has the optical fibre gyro based on four state Markov chains to adjust at random at present
System uses memory storage pseudo-random sequence as randomizer, usesAs phase modulation, every phase
Bit duration is τ (τ is the optical fibre gyro transition time, is modulated to the delay of demodulation).The method is due on optical fibre gyro product
Storage space limitation, the limited length for the pseudo-random sequence that memory can be made to store usePhase modulation is to light
Source strength noise suppressed is weaker not to utilize high accuracy gyroscope application, and every Phase Duration is that τ not can be carried out the real-time of 2 π voltages
Demodulation influences the scale factor linearity index under the small angular speed of gyro.Therefore there are certain limitations for the Stochastic Modulation method
Property.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of digital closed-loop optic fiber gyroscope is random
Four state modulator approaches, at least can partially solve the above problems.Technical solution of the present invention is modulated for digital closed-loop optic fiber gyroscope
Modelling of Random Drift of Gyroscopes caused by cross talk of electrons and dead-time problem between demodulated signal, using the random four states modulation methods of optical fibre gyro
Optical fiber gyroscope precision can be improved in method, guarantees optical fibre gyro job stability, has biggish realistic meaning.
To achieve the above object, according to one aspect of the present invention, a kind of digital closed-loop optic fiber gyroscope random four is provided
State modulator approach characterized by comprising
S1 generates pseudo-random number sequence using pseudorandom number generator, and establishes polymorphic modulation condition memory and state turn
Move matrix；
S2 construction Stochastic Modulation mode selector selects any one pseudo random number, and from polymorphic modulation condition memory
Select a modulation condition；
S3 is according to pseudo random number and the transfer output of modulation condition bonding state transfer matrix completion status；
S4 establishes modulation condition delayer, generates four state phase of Stochastic Modulation, is based on four state phase-group symphysis of Stochastic Modulation
Indicate at demodulation；
S5 completes the demodulation of optical fibre gyro angular speed and 2 π voltages using demodulation mark.
One as technical solution of the present invention is preferred, in step S1, is preferably modulated according to random four state of optical fibre gyro
Phase value determines polymorphic modulation condition memory and/or state-transition matrix.
Preferably as one of technical solution of the present invention, step S3 includes,
S31 constructs the first Stochastic Modulation mode selector and the second Stochastic Modulation mode selector, respectively in pseudo random number
The first pseudo random number and the second pseudo random number are arbitrarily selected in sequence；
S32 selects the first modulation condition and the second modulation condition in polymorphic modulation condition memory respectively；
One phase modulation time is divided into first part and second part by S33, is adjusted by the first pseudo random number and first
The state that state processed completes first part shifts output；Second part is completed by the second pseudo random number and the second modulation condition
State transfer output.
Preferably as one of technical solution of the present invention, step S4 includes,
S41 establishes the first modulation condition delayer and the second modulation condition delayer；
One phase modulation time is divided into first part and second part by S42；
S43 is modulated one step of state to first part and second part respectively as unit of a phase modulation time and prolongs
When and two steps delay；
The current modulation condition of first part and second part is worth a corresponding step delayed modulation state value by S44
Difference is as the first modulation condition value, by first part and one step delayed modulation state value of second part and two step delayed modulation shapes
State value constitutes four state phase of Stochastic Modulation as the second modulation condition value, the first modulation condition value and the second modulation condition value
Position.
Preferably as one of technical solution of the present invention, the first modulation condition value and the second modulation condition value preferably according to when
Between sequentially combination constitute four state phase of Stochastic Modulation.
One as technical solution of the present invention is preferred, and demodulation mark preferably includes angular speed demodulation mark and 2 π voltage solutions
Mark is adjusted, the angular speed demodulation mark is corresponding to complete angular speed demodulation, and the 2 π voltage demodulation mark is corresponding to complete 2 π voltages
Demodulation.
One as technical solution of the present invention is preferred, and pseudo random number Xue Lie is preferably based on linear feedback shift register
Pseudorandom number generator generates.
One as technical solution of the present invention is preferred, and random four states phase modulation value is preferably
One as technical solution of the present invention is preferred, and a phase modulation time is preferably divided into first part and second
Part.
One as technical solution of the present invention is preferred, and polymorphic modulation condition memory is preferably that 16 state modulation conditions are deposited
Reservoir.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, have below beneficial to effect
Fruit:
1) technical solution of the present invention can produce longer pseudo-random number sequence using LFSR pseudorandom number generator, right
When optical fibre gyro is modulated, arbitrary random number and modulation condition are selected in random sequence, in addition to can reduce modulation
Except demodulated signal correlation, resource occupation amount also can be reduced in the processor chips such as FPGA.
2) technical solution of the present invention usesIt as modulation period, can increase by 2 π voltage frequency, demodulation frequencies, reduce gyro and exist
Because of scale factory non-linearity problem caused by 2 π voltage amplitudes under angular speed.
3) technical solution of the present invention usesOvermodulation technique, light source relative intensity noise can be reduced,
Increase demodulated signal signal-to-noise ratio, advantageously reduces the indexs such as Gyro Random migration coefficient.
Detailed description of the invention
Fig. 1 is the random four states modulator approach implementing procedure of digital closed-loop optic fiber gyroscope in the embodiment of technical solution of the present invention
Figure；
Fig. 2 is 16 state modulation conditions and its state transfer schematic diagram in the embodiment of technical solution of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.The present invention is described in more detail With reference to embodiment.
Technical solution of the present invention proposes a kind of random four states modulator approach of digital closed-loop optic fiber gyroscope, the Stochastic Modulation side
Method can be realized via digital signal processor, such as FPGA.Due to the programmability of digital signal processor, further letter
The accuracy and convenience for having changed the random four states modulation operations of optical fibre gyro, for solving digital closed-loop optic fiber gyroscope modulatedemodulate
The cross talk of electrons problem between signal is adjusted, has and preferably solves effect.
Specifically, the key step that random four state of digital closed-loop optic fiber gyroscope is modulated in the present embodiment are as follows: be primarily based on
Linear feedback shift register LFSR pseudorandom number generator generates pseudo-random number sequence, establishes 16 state modulation condition memories
State modulation condition memory and one step state transition matrix, construction Stochastic Modulation mode selector carry out shape according to pseudo-random values
State transfer output, establishes modulation condition delayer, four state phase of Stochastic Modulation is generated, according to four state phase-group symphysis of Stochastic Modulation
Angulation rate demodulation mark and 2 π voltages demodulation mark indicate that completing angular speed and 2 π voltages demodulates according to demodulation.Purpose is
Modelling of Random Drift of Gyroscopes and dead-time problem caused by solving because of cross talk of electrons improve optical fiber gyroscope precision, guarantee optical fibre gyro work
Stability has biggish realistic meaning.
Further, the purpose in technical solution of the present invention embodiment is achieved in that
(1) pseudo-random number sequence is generated based on linear feedback shift register LFSR pseudorandom number generator, included multiple
Pseudo-random values, it is preferred that the linear feedback shift register proper polynomial in the present embodiment is asked by MATLAB tool software
Solution generates.
(2) 16 state modulation condition memories and one step state transition matrix are established, according to random four states phase modulation value,
In the present embodiment preferablyDetermine 16 state modulation condition memories and its one step state transition matrix.Need spy
Not, it is noted that 16 state modulation condition memories in the present embodiment, it is the actual demand based on this field and the tool made
Body selection, can also be according to a variety of preferable cases under other modulation demands, and 16 state modulation conditions in the present embodiment are deposited
Reservoir is not regarded as the concrete restriction to application scheme.
(3) two Stochastic Modulation mode selectors are constructed, select any pseudo random number, root in pseudo-random number sequence respectively
According to pseudo-random values and the modulation condition of corresponding selection, front and back is carried out respectivelyState transfer output.In the present embodiment, by light
Fine gyro transition time τ is divided into the output that former and later two parts carry out transfering state, can be further improved its randomness.
(4) two modulation condition delayers are established, carry out front and back respectively as unit of τOne step of modulation condition delay and two
Step delay.In the present embodiment, two modulation condition delayers correspond to that previous step carried out for when getting over of optical fibre gyro
Between be split into two part carry out state transfer output.
(5) four state phase of Stochastic Modulation is generated, according to front and backIt is poor that current modulation condition value and a step delay state value are made
Current phase modulation is obtained, upper τ modulation condition value is obtained as difference according to a step delay state value and two step delay state values,
Four kinds of states are combined into four state phase value of Stochastic Modulation in chronological order.
(6) it is according to four state phase combination value of Stochastic ModulationThe corresponding combination value generate corresponding angular speed
Demodulation mark and 2 π voltages demodulation mark, two kinds of demodulation marks include 256 kinds of demodulation strategies altogether.
(7) indicate that corresponding demodulation strategy completes angular speed and 2 π voltages demodulate according to demodulation.
Below in conjunction with attached drawing, the present invention is described in further detail.
Referring to Fig.1, the present invention provides a kind of random four states modulator approach of digital closed-loop optic fiber gyroscope, digital closed loop optical fiber
Four state modulator approach implementing procedure of Gyro Random is as shown in Figure 1.Occurred based on linear feedback shift register LFSR pseudo random number
Device generates pseudo-random number sequence, establishes 16 state modulation condition memories and one step state transition matrix, constructs Stochastic Modulation shape
State selector carries out state transfer output according to pseudo-random values, establishes modulation condition delayer, generates four state phase of Stochastic Modulation
Position generates angular speed demodulation mark and 2 π voltages demodulation mark according to four state phase combination of Stochastic Modulation, has been indicated according to demodulation
It is demodulated at angular speed and 2 π voltages.
As shown in Fig. 2, the 16 state modulation condition memories established in the present embodiment and step state transfer are such as Fig. 2 institute
Show.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of random four states modulator approach of digital closed-loop optic fiber gyroscope characterized by comprising
S1 generates pseudo-random number sequence using pseudorandom number generator, and establishes polymorphic modulation condition memory and state transfer square
Battle array；
S2 construction Stochastic Modulation mode selector selects any one pseudo random number, and selects from polymorphic modulation condition memory
One modulation condition；
S3 is according to pseudo random number and the transfer output of modulation condition bonding state transfer matrix completion status；
S4 establishes modulation condition delayer, generates four state phase of Stochastic Modulation, generates solution based on four state phase combination of Stochastic Modulation
Adjust mark；
S5 completes the demodulation of optical fibre gyro angular speed and 2 π voltages using demodulation mark.
2. the random four states modulator approach of a kind of digital closed-loop optic fiber gyroscope according to claim 1, wherein the step S1
In, preferably determine that polymorphic modulation condition memory and/or state shift square according to the random four states phase modulation value of optical fibre gyro
Battle array.
3. the random four states modulator approach of a kind of digital closed-loop optic fiber gyroscope according to claim 1 or 2, wherein the step
Rapid S3 includes,
S31 constructs the first Stochastic Modulation mode selector and the second Stochastic Modulation mode selector, respectively in pseudo-random number sequence
In arbitrarily select the first pseudo random number and the second pseudo random number；
S32 selects the first modulation condition and the second modulation condition in polymorphic modulation condition memory respectively；
One phase modulation time is divided into first part and second part by S33, passes through the first pseudo random number and the first modulation shape
The state that state completes first part shifts output；The state of second part is completed by the second pseudo random number and the second modulation condition
Transfer output.
4. the random four states modulator approach of described in any item a kind of digital closed-loop optic fiber gyroscopes according to claim 1~3, wherein
The step S4 includes,
S41 establishes the first modulation condition delayer and the second modulation condition delayer；
One phase modulation time is divided into first part and second part by S42；
S43 as unit of a phase modulation time respectively to first part and second part be modulated one step of state delay and
The delay of two steps；
The current modulation condition of first part and second part is worth the difference of a corresponding step delayed modulation state value by S44
As the first modulation condition value, by first part and one step delayed modulation state value of second part and two step delayed modulation state values
As the second modulation condition value, the first modulation condition value and the second modulation condition value constitute four state phase of Stochastic Modulation.
5. the random four states modulator approach of a kind of digital closed-loop optic fiber gyroscope according to claim 4, wherein described first adjusts
Preferably combination constitutes four state phase of Stochastic Modulation sequentially in time for state value processed and the second modulation condition value.
6. the random four states modulator approach of described in any item a kind of digital closed-loop optic fiber gyroscopes according to claim 1~5, wherein
The demodulation mark preferably includes angular speed demodulation mark and 2 π voltages demodulation mark, and the angular speed demodulation mark is corresponding to be completed
Angular speed demodulation, the 2 π voltage demodulation mark is corresponding to complete the demodulation of 2 π voltages.
7. the random four states modulator approach of described in any item a kind of digital closed-loop optic fiber gyroscopes according to claim 1~6, wherein
The pseudorandom number generator that the pseudo random number Xue Lie is preferably based on linear feedback shift register generates.
8. the random four states modulator approach of described in any item a kind of digital closed-loop optic fiber gyroscopes according to claim 1~7, wherein
The random four states phase modulation value is preferably
9. the random four states modulator approach of described in any item a kind of digital closed-loop optic fiber gyroscopes according to claim 1~8, wherein
One phase modulation time is preferably divided into first part and second part.
10. the random four states modulator approach of described in any item a kind of digital closed-loop optic fiber gyroscopes according to claim 1~9, wherein
The polymorphic modulation condition memory is preferably 16 state modulation condition memories.
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| CN111238463A (en) * | 2020-01-19 | 2020-06-05 | 湖北三江航天红峰控制有限公司 | Modulation method and device based on random sequence digital closed-loop fiber optic gyroscope |
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