CN110006418A - Method for measuring angular velocity, device and application system - Google Patents
Method for measuring angular velocity, device and application system Download PDFInfo
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- CN110006418A CN110006418A CN201910299406.7A CN201910299406A CN110006418A CN 110006418 A CN110006418 A CN 110006418A CN 201910299406 A CN201910299406 A CN 201910299406A CN 110006418 A CN110006418 A CN 110006418A
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- 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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Abstract
The present invention relates to a kind of method for measuring angular velocity, device and application system, method for measuring angular velocity includes: emission measurement light and the measurement light is divided into the first measurement light and the second measurement light, the first magnitude of angular velocity is obtained in the first optical path, in the second optical path and obtain the second magnitude of angular velocity, obtain final magnitude of angular velocity, angular velocity measurement device includes first transmitter, second transmitter, first optical splitter, first optical path, second optical path and the 4th optical splitter, 4th optical splitter issues interference signal, application system applies above-mentioned measuring device.The present invention carries out high-acruracy survey by the first optical path angular velocity and the second optical path angular velocity carries out large-range measuring, and be calculated two angular speed is combined, final angular speed is calculated, in a manner of coarse-fine combination, on the basis of angular speed high-acruracy survey, improve the measurement range of angular speed, practicability with higher.
Description
Technical field
The present invention relates to field of measuring technique more particularly to a kind of method for measuring angular velocity, device and application system.
Background technique
Sagnac interferometer is a kind of high-precision interferometer using Sagnac effect, and laser Sagnac interferometer can be used
In measuring opposite angular speed, as the invention of femtosecond optical frequency comb is so that revolutionary development occurs in laser measuring technique, exhausted
Adjust the distance measurement, spectrum analysis, the long range time transmission etc. fields achieve huge technological break-through, and rapidly be applied to precision
Measure the every field of industry.
With the development of fibre optic gyroscope, Sagnac interferometer develops to all -fiber direction, but its measuring range is small, cannot
Large-range measuring is carried out, though traditional frequency comb can measure angular speed, if its measurement accuracy need to be improved, needs to increase sagnac light
The length of fine interferometer, or increase its area, but which has the shortcomings that dispersion is serious, it is big to occupy volume, is not able to satisfy
The high-acruracy survey demand of angular speed.
Summary of the invention
The purpose of the present invention is to provide a kind of method for measuring angular velocity, device and application system, to realize angular speed
A wide range of and high-acruracy survey.
The technical proposal adopted by the invention to solve the above technical problems is that:
A kind of method for measuring angular velocity, includes the following steps:
The measurement light is simultaneously divided into the first measurement light and the second measurement light by emission measurement light；
Wherein, the first measurement light enters in the first optical path and obtains the first magnitude of angular velocity, and the second measurement light enters the
In two optical paths and obtain the second magnitude of angular velocity；
First magnitude of angular velocity and the second magnitude of angular velocity are combined calculating, obtain final magnitude of angular velocity.
In a preferred embodiment, the measurement method of first magnitude of angular velocity is as follows:
The first measurement light enters in first optical path and is divided into two in the beginning of first optical path
Road, the two-way light transmit in first optical path in the opposite direction and are back to the beginning meeting of first optical path
It closes, obtains the amplitude variation of the phase difference of the two-way light, changed according to amplitude and calculate the first magnitude of angular velocity.
In a preferred embodiment, the measurement method of second magnitude of angular velocity is as follows:
Emitting local oscillator light, the local oscillator light has repetition rate difference and Chong Die spectral region with the second measurement light,
The second measurement light enters in second optical path and is divided into two-way in the beginning of second optical path, the two-way
Light, which transmits in second optical path in the opposite direction and is back to the beginning of second optical path, can merge output
Light combination signal, the light combination signal and local oscillator optical signal carry out laser heterodyne interferometry and export interference signal, obtain the interference signal
And the second magnitude of angular velocity is calculated according to interference signal.
In a preferred embodiment, the two-way light the second measurement light separated point different by light path
Pulse separation is carried out from optical path.
The present invention also provides a kind of angular velocity measurement devices, comprising:
First transmitter is used for emission measurement light；
Second transmitter, for emitting local oscillator light；
First optical splitter is divided into the first measurement light and the second measurement for receiving the measurement light, and by the measurement light
Light；
First optical path, including the second optical splitter described in the second optical splitter receive the first measurement light, based on described
Second optical splitter extends first annular optical path；
Second optical path, including third optical splitter, the third optical splitter receives the second measurement light, based on described
Third optical splitter extends the second annular optical path, equipped with the first different separation optical path of light path and the in the described second annular optical path
Two separation optical paths；
4th optical splitter, for receiving the local oscillator light and exporting interference signal.
In a preferred embodiment, second optical path includes the 5th optical splitter and the 6th optical splitter, institute
It states and is connected with described first between the 5th optical splitter and the 6th optical splitter and separates optical path, the described second annular optical path is located at described the
One section between five optical splitters and the 6th optical splitter forms second and separates optical path, the first separation optical path be equipped with the first light every
From device, the second separation optical path is equipped with the second optoisolator, the light biography of first optoisolator and the second optoisolator
It is defeated contrary.
It in a preferred embodiment, further include light combination optical path, the input port of the light combination optical path and the third
Optical splitter connection, the delivery outlet of the light combination optical path are connected to the 4th optical splitter.
It in a preferred embodiment, further include light path, the input terminal of the light path and described second
Transmitter connection, the light path and light combination optical path are connected to at the 4th optical splitter.
It in a preferred embodiment, further include detecting element and output element, the detecting element is for detecting
Output signal in first optical path and the second optical path, the output element include signal acquisition module and data
Processing module.
The invention also discloses a kind of application systems, using above-mentioned angular velocity measurement device.
The present invention at least has the following beneficial effects:
The first optical path and the second optical path in the present invention share measurement radiant, pass through the first optical path pair
Angular speed carries out high-acruracy survey and the second optical path angular velocity carries out large-range measuring, and by be calculated two
Angular speed, which is combined, is calculated final angular speed, in a manner of coarse-fine combination, on the basis of angular speed high-acruracy survey,
Improve the measurement range of angular speed, practicability with higher.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the flow chart of method for measuring angular velocity one embodiment；
Fig. 2 is the systematic schematic diagram of angular velocity measurement device one embodiment；
Fig. 3 is the light path principle figure of angular velocity measurement device one embodiment.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of the embodiment, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art are not being paid
Other embodiments obtained, belong to the scope of protection of the invention under the premise of creative work.In addition, being related in patent
All connection/connection relationships, not singly refer to that component directly connects, and refer to can according to specific implementation situation, by addition or
Reduce couple auxiliary, Lai Zucheng more preferably coupling structure.Each technical characteristic in the present invention, before not conflicting conflict
Putting can be with combination of interactions.
Referring to Fig.1, the method for measuring angular velocity in the present embodiment includes the following steps:
Measurement light is simultaneously divided into the first measurement light and the second measurement light by emission measurement light；
Wherein, the first measurement light enters in the first optical path and obtains the first magnitude of angular velocity, and the second measurement light enters the
In two optical paths and obtain the second magnitude of angular velocity；
First magnitude of angular velocity and the second magnitude of angular velocity are combined calculating, obtain required magnitude of angular velocity.
The measurement method of first magnitude of angular velocity is as follows: the first above-mentioned measurement light enters in the first optical path and in first
The beginning of optical path is divided into two-way, and the first optical path is an annular optical path, and the two-way light is in the opposite direction in the first measurement
It is transmitted in optical path and the laggard guild in beginning for being back to the first optical path closes, the amplitude for obtaining the phase difference of above-mentioned two-way light becomes
Change, the first magnitude of angular velocity can be calculated according to amplitude variation.
According to Sagnac effect, two-way light reverse transfer in the first optical path, when object under test is rotated, two
Light path of the road light in the first optical path can generate variation, and have different phase delay, so that the first measurement light
Interference pulse intensity change, obtain the first optical path in output signal strength, and by the change in signal strength with
The angular speed of rotation is corresponding, you can get it the first magnitude of angular velocity.
First angular speed is measured using laser pulse interferometry, two correlations after the first optical path internal interference
Light is collected after being coupled, the intensity of the interference peak after obtaining the relevant optical coupling, and is calculated by amplitude subdivision,
Obtain the first magnitude of angular velocity.
When two-way optical pulse overlap in the first optical path, the amplitude highest of two-way light obtains the amplitude and passes through width
The first magnitude of angular velocity can be obtained in value subdivision, but the time of measuring is shorter, only a quarter of whole cycle, leads to first jiao
The measurement accuracy of velocity amplitude is high, measurement range is small.
According to the principle of interference of Sagnac effect, different annular optical paths can not carry out standard because having different measurement parameters
Really matching, it is therefore desirable to which other measurement loops are set to expand the measurement range of angular speed.The present embodiment is in the first angular speed
In Fundamentals of Measurement, it is additionally provided with the measurement method of the second angular speed, to increase the measurement range of angular speed.
The measurement method of second angular speed is as follows: transmitting local oscillator light, and local oscillator light has repetition rate poor with the second measurement light
And the spectral region of overlapping, the second measurement light enter in the second optical path and are divided into two-way in the beginning of the second optical path,
The two-way light transmitted in the second optical path in the opposite direction and be back to the first optical path beginning can merge output close
Optical signal, light combination signal and local oscillator optical signal carry out laser heterodyne interferometry and export interference signal, obtain interference signal and according to interference
Signal calculates the second magnitude of angular velocity.
Point interior optical path different there are two light path, the optical transport side of two separation optical paths are set in the second above-mentioned optical path
To difference, the two-way light that the second measurement light is separated passes through two separation optical paths respectively and is back to the beginning of the second optical path
It merges, the pulse of the two-way light after separating optical path is separated by force, so as to eliminate the blind area of angular speed, is increased
The measurement range of angular speed.
The calculation method of above-mentioned second magnitude of angular velocity includes the following steps:
Two interference signals in an interference periods are intercepted, the corresponding time difference Δ τ in interference signal center twice is calculated；
Calculate the second magnitude of angular velocity Ω of signal in the single interference period；
Above-mentioned
In above formula, in above formula, n is the winding circle number of optical fiber in optical path, and c is the light velocity, and A is surrounded by optical path
Area, Δ frRepetition rate between the second measurement light and local oscillator light is poor, fsFor the repetition rate of the second measurement light, Δ τ is benefit
The corresponding difference in two interference signal centers in the interference periods found out is fitted with Fourier transformation and least square method.
And the repetition rate of the second measurement light is fLO, pass through formula Δ fr=fS-fLOYou can get it Δ fr。
Further, the calculation method of above-mentioned time difference Δ τ includes the following steps:
Obtain two interference signals time difference corresponding to two sections of time intervals in an intercepted interference periods
t0；
Fast Fourier variation is carried out to the two sections of interference signals intercepted out, phase frequency spectrum is found out respectively and is subtracted each other later,
Then slope k is fitted using least square method；
The corresponding time difference Δ τ=k+t in interference signal center twice0。
Based on the second magnitude of angular velocity Ω in above-mentioned calculation method you can get it single interference period.
Using the single interference period as process cycle when because of signal processing, each period carries out an angular speed and calculates, and second
Measurement light and local oscillator light are exported in optical path with two-way light, therefore are able to observe that two in an interference periods
Apparent interference signal.And since the slope differences of phase frequency spectrum are equal to the time shift of signal, by slope k and known set
Time shift t0The corresponding poor Δ τ in two interference signal centers in interference periods that you can get it.
It is i.e. under the premise of eliminating blind area, local oscillator light and the more difference interferences of light combination light comb signal progress is dry to be formed
Signal is related to, the interference signal is acquired and analyzed, be calculated the absolute angular velocities of object, increases the measurement model of angular speed
It encloses.
After completing the calculating of the first magnitude of angular velocity and the second magnitude of angular velocity, the exact value of the first magnitude of angular velocity is obtained respectively
With the value range of the second angular speed, and it is combined calculating, obtains final magnitude of angular velocity.
Method for measuring angular velocity in the present embodiment improves the measurement model of angular speed under the premise of guaranteeing measurement accuracy
Enclose, can be used for the absolute angular velocities measurement of moving object, such as angular velocity measurement of the flyer in flight course, as aircraft,
Aircraft, spacecraft, cruise, automobile etc..
Referring to Fig. 2 and Fig. 3, the present invention also provides a kind of angular velocity measurement devices, comprising:
First transmitter 10, first transmitter 10 are used for emission measurement light 101；
Second transmitter 20, second transmitter 20 is for emitting local oscillator light 102；
First optical splitter 71, the first optical splitter 71 can receive measurement light 101, and measurement light is divided into the first measurement light
103 and second measurement light 104；
First optical path 30, the first optical path 30 include the second optical splitter 31, and the second optical splitter 31 receives first and surveys
Light 103 is measured, first annular optical path 32 is extended based on the second optical splitter 31；
Second optical path 40, the second optical path 40 include third optical splitter 41, and third optical splitter 41 receives second and surveys
Measure light 104, the second annular optical path 42 extended based on third optical splitter 41, in the second annular optical path 42 equipped with light path it is different the
One separation optical path 43 and the second separation optical path 44；
4th optical splitter 61, the 4th optical splitter 61 is for receiving local oscillator light 102 and exporting interference signal 106.
Second optical splitter 31 receives the first measurement light 103, and divides the first measurement light 103 to the first detection for reverse transfer
Light 1031 and the second detection light 1032, the first detection light 1031 and the second detection light 1032 transmit one in first annular optical path 32
Week, and it is back to the coupling of the second optical splitter 31.The first detecting element 33, the first detecting element are additionally provided on first optical path 30
33 for detecting the optical signal after first detection light 1031 is coupled with the second detection light 1032 at the second optical splitter 31, using pulse
Interference technique handles the optical signal after coupling, utilizes the first magnitude of angular velocity of Strength co-mputation of interference peak.
Preferably, the first angular speed is measured using amplitude close classification, and the second optical splitter 31 uses the coupling of 50:50
Device, the first measurement light 103 are divided into the first detection light 1031 and the second detection light 1032, the first detection after the second optical splitter 31
Light 1031 transmits in first annular optical path 32 in the opposite direction with the second detection light 1032, because of the first detection light 1031 and second
The equivalent optical path that detection light 1032 is passed through, the two are coupled at the second optical splitter 31, generate a phase after the two interference
Potential difference, object under test rotation when, the phase difference by generate change and cause phase-amplitude generate variation, by the amplitude with
Angular speed is corresponding to can be obtained accurate angular velocity signal.
Preferably, the number of turns that first annular optical path 32 is surrounded can be selected according to actual needs, and the number of turns is more,
Sagnac effect is more obvious, and increases the phase shift of the first detection light 1031 and the second detection light 1032, and is reduced first annular
The size of optical path 32.
It include the 5th optical splitter 45 and the 6th optical splitter 46 in second optical path 40, the 5th optical splitter 45 and the 6th is divided
The first separation optical path 43 is connected between device 46, the second annular optical path 42 is between the 5th optical splitter 45 and the 6th optical splitter 46
One section for second separation optical path 44, first separation optical path 43 be equipped with the first optoisolator 431, second separation optical path 44 on set
Have the second optoisolator 441, the first optoisolator 431 and the second optoisolator 441 allow by light transmission direction phase
Instead.
Third optical splitter 41 receives the second measurement light 104 and divides the second measurement light 104 for third detection light 1041 and the
Four detection lights 1042, third detection light 1041 and the 4th detection light 1042 enter in the second annular optical path 42.Because of third detection light
1041 with the transmission direction of the 4th detection light 1042 on the contrary, the first optoisolator 431 allows to pass through with the second optoisolator 441
Light it is contrary, the first separation optical path 43 and the first optoisolator 431 allow by the transmission direction of light it is identical, the
Two separation optical paths 44 with allow described in the second optoisolator 441 by the transmission direction of light it is identical, (herein assume first separate
The optical transmission direction of optical path 43 is identical as the transmission direction of third detection light 1041, second separation optical path 44 optical transmission direction with
The transmission direction of 4th detection light 1042 is identical), third detection light 1041 is back to third light splitting by the first separation optical path 43
Device 41, the 4th detection light 1042 can only by second separation optical path 44 be back to third optical splitter 41 and with third detection light 1041
Light combination, form light combination signal 105 can be avoided repeatedly transmission of the light beam in optical path, causes frequency spectrum weight by above-mentioned setting
It is folded, influence measurement accuracy；4th optical splitter 61 receives local oscillator light 102 and light combination signal 105, local oscillator light 102 and light combination signal 105
More difference interferences are carried out at the 4th optical splitter 61 and export interference signal 106.Because the first separation optical path 43 separates light with second
The light path on road 44 is different, therefore the third detection light 1041 by the first separation optical path 43 separates the of optical path 44 with process second
The light pulse of four detection lights 1042 is separated by force, is overcome in object rotation speed hour, there are blind area to detect
Defect, expand the measurement range of angular speed.
Preferably, the first end (left side in figure) of the first separation optical path 43 separates the first end of optical path 44 in the 5th with second
It is connected at optical splitter 45, the second end (right side in figure) of the first separation optical path 43 separates the second end of optical path 44 in the 6th with second
It is connected at optical splitter 46.5th optical splitter 45 receives the third detection light 1041 spread out of from third optical splitter 41, and examines to third
It surveys light 1041 to be divided, but due to the buffer action of the first optoisolator 431 and second 441 pairs of light of optoisolator, third inspection
The 6th optical splitter 46 can only be passed through and be transmitted to from the first separation optical path 43 by surveying light 1041, and third detection light 1041 is divided from the 6th
It is spread out of at device 46 and is back to third optical splitter 41；6th optical splitter 46 receives the 4th detection spread out of from third optical splitter 41
Light 1042, the 4th detection light 1042 can only pass through and be transmitted to the 5th optical splitter 45, the 4th detection light from the second separation optical path 44
1042 spread out of from the 5th optical splitter 45 and are back to third optical splitter 41, form light combination signal with 1041 light combination of third detection light
105。
It preferably, further include light combination optical path 50, the input port of light combination optical path 50 is connected to third optical splitter 41, light combination optical path
50 delivery outlet is connected to the 4th optical splitter 61, and third optoisolator 51 is additionally provided in light combination optical path 50.Third optoisolator 51
Optical transmission direction it is identical as the transmission direction of light combination signal 105, prevent the light beam in other directions from entering in light combination optical path 50, shadow
Ring measurement accuracy；Light combination signal 105 is passed through light combination optical path 50 after the outflow of third optical splitter 41, and is passed through by light combination optical path 50
Laser heterodyne interferometry is carried out with local oscillator light 102 in 4th optical splitter 61, forms interference signal 106.
It preferably, further include light path 60, the 4th optical splitter 61 is located in light path 60 and receives local oscillator light 102,
Local oscillator light 102 and the light combination signal 105 for entering the 4th optical splitter 61 carry out more difference interferences, export interference signal 106, detection light
Road 60 further includes the second detecting element 62, and the second detecting element 62 is for detecting interference signal 106.
It preferably, further include output light path 70, the input terminal of output light path 70 is connected to first transmitter 10, the first light splitting
Device 71 is located on output light path 70, and first transmitter 10 issues measurement light 101 and received by the first optical splitter 71, the first optical splitter
71 divide measurement light 101 for the first measurement light 103 and the second measurement light 104, an output end of output light path 70 and second point
Light device 31 is connected to, and another output end of output light path 70 is connected to third optical splitter 41.First measurement light 103 enters the first measurement
The measurement of high-precision angular speed is carried out in optical path 30, the second measurement light 104 enters in third optical splitter 41 by third optical splitter 41
It is divided into the first detection light 1031 and the second detection light 1032, the first detection light 1031 and the second detection light 1032 are in the second measurement light
Reverse transfer in road 40 realizes the large-range measuring of angular speed.The 4th is equipped between first optical splitter 71 and the second optical splitter 31
Optoisolator 72, the optical transmission direction of the 4th optoisolator 72 are reversely identical as the transmission of the first measurement light 103；First optical splitter
The 5th optoisolator 73, the optical transmission direction of the 5th optoisolator 73 and the second measurement light are equipped between 71 and third optical splitter 41
104 transmission direction is identical；The light beam returned out of the first optical path 30 or the second optical path 40 is avoided to return to
To output light path 70, signal transmission and measurement accuracy are influenced.
It further include that the second detecting element 62 and output element (not shown), the second detecting element 62 are connect with output element,
And be located in light path 60, the second detecting element 62 carries out signal transmission for detecting interference signal 106.Output element
Including signal acquisition module and data processing module, signal acquisition module receives the interference signal 106 and is transmitted to data processing
Module is calculated.Preferably, signal acquisition module includes high-speed signal acquisition part and interference signal interception part, at data
Reason module includes fast Fourier transformation operation part, least square method fit slope calculating section, brings formula into and seek angular speed
Part, above-mentioned high-speed signal acquisition part, interference signal interception part, fast Fourier transformation operation part, least square
Method fit slope part and substitution formula ask angular speed part to be sequentially connected.
Preferably, above-mentioned first transmitter 10 and the stable frequency comb laser of 20 selected frequency of second transmitter, are surveyed
Amount light 101 and local oscillator light 102 are all made of frequency comb as signal source, and measuring light 101 and local oscillator light 102 has small repetition poor
And possess the spectral region of overlapping.By using all optical fibre structure, the signal-to-noise ratio of entire optical path system can be improved, improve
Measurement accuracy.The repetition rate of second measurement light 104 distinguishes fLORepetition rate with local oscillator light 102 is fS, repetition difference Δ fr=
fS-fLO.Because being measured in measuring system using all -fiber, noise is relatively high, adjusts the second measurement light 104 and local oscillator light 102 respectively
Intensity, make local oscillator light 102 optical power second measure light 104 optical power half when, entire measuring system
Signal-to-noise ratio is optimized for maximum.
Single point detector can be selected in first detecting element 33 and the second detecting element 62, passes through a single point detector
The independent measuring signal for detecting two-way simultaneously, measurement accuracy are high.It is set between 4th optical splitter 61 and the second detecting element 62
There is narrow band filter, interference signal 106 after a narrow band filter by high wideband detector by being received, by using optical filter
It can guarantee that spectrum overlapping does not occur for more difference interferences of double frequency combs.
Preferably, using the adjustable optical filter of central wavelength and broadband, according to detector when optimizing central wavelength and broadband
The time domain waveform and spectrum position of signal, when time domain interference portion enough and spectral centroid of counting is located at the four of frequency comb repetition
When/mono- position, signal aliasing reaches minimum, and the precision of angular velocity measurement system reaches maximum.
Filter is equipped between second detecting element 62 and output element, the signal that the second detecting element 62 issues first passes through
One broadband is about the general low-pass filter of repetition rate, reuses output element and carries out signal collection, above-mentioned setting can
The incoherent part in signal is removed, continuous interference signal 106 can be directly obtained, the sampling period of output element can also root
According to actual conditions reasonable set.
Frequency comb is put in the carrier envelope pulse that time domain representation is femtosecond using frequency comb as the light source of optical path
When object under test generates angular speed, third detection light 1041 and the 4th detection light 1042 generate Sagnac at third optical splitter 41
Effect, third detection light 1041 changes with light path of the 4th detection light 1042 in the second annular optical path 42, and has
Different phase delay, the pulse of light combination signal 105 originally are split into the constant dipulse of time shift, i.e. two-beam generates two
The different interference signal 106 in a position.The amplitude size of these interference signals 106 is approximately uniform, and the time shift between dipulse is micro-
Small, general detection method measurement is difficult, it is therefore desirable to have the local oscillator of small repetition rate difference with the second measurement light using one
Light 102 and two groups of measurement light pulses carry out more difference interferences.If using the pulse signal of local oscillator light 102 as the outer of starting sampling
Clock, collected point are exactly the cross-correlation function of local oscillator light 102 and two groups of measurement light pulses, between two groups of cross-correlation functions
There are a fixed multiple proportions between time delay and the time delay of script, and the slope for being fitted Fourier transformation phase frequency spectrum respectively can be asked
Time delay between two groups of cross-correlation functions out.I.e. by the way that two measurement light comb signals and local oscillator light 102 are carried out more difference interferences
Interference signal 106 is formed, interference signal 106 is acquired and analysis processing, the angle for obtaining the rotation of the second optical path 40 are fast
Angle value.
Using the single interference period as process cycle, an angular speed measuring and calculating, the second detection are carried out for each process cycle
Element 62 intercepts the interference signal 106 in each interference periods, since light is exported in the second optical path 40 with two-way, one
It can be truncated to two apparent interference signals 106 in a interference periods, asked using Fourier transformation and least square method fitting
The corresponding time difference Δ τ in 106 center of interference signal twice out, then in signal period the angular velocity vector Ω of testee can be used it is following
Formula is found out.
In above formula, n is the winding circle number of the second annular optical path 42, and c is the light velocity, and A is surrounded by the second annular optical path 42
Area, Δ frRepetition rate between the second measurement light 104 and local oscillator light 102 is poor, Δ frFor the repetition of the second measurement light 104
Frequency, Δ τ are to utilize Fourier's variation time corresponding with 106 center of two sides interference signal that least square method fitting is found out
Difference.
In an interference periods, the corresponding time difference t of two sections of time intervals is recorded0；Intercept out two sections of interference are believed
Numbers 106 carry out Fast Fourier Transform (FFT)s, find out subtracted each other after phase frequency spectrum respectively, then fitted tiltedly using least square method
Rate k；Since the slope differences of phase frequency spectrum are equal to the time shift of signal, pass through slope k and known set time shift t0, list can be calculated
Magnitude of angular velocity in a interference periods, i.e. Δ τ=k+t0。
Therefore above-mentioned Formula for Angular Velocity of Fuze can be deformed into:
In above-mentioned measurement process, when object generates angular speed, third detection light 1041 and the 4th detection light 1042 are the
It is the situation larger based on object angular velocity of rotation that the constant dipulse of time shift is formed in two optical paths 40, in object angular speed
When smaller, difference is small between two dipulses, is almost overlapped, and two dipulses are detected not substantially by common detection device
It arrives, there are the blind area of angular speed.
It is equipped with the first separation optical path 43 in second optical path 40 and separates optical path 44 with second, first separates optical path 43 and the
The light path of two separation optical paths 44 is different, and allow by light transmission direction on the contrary, therefore third detection light 1041 and the 4th
Detection light 1042 can only pass through from different separation optical paths respectively, the light path for separating optical path 44 with second because of the first separation optical path 43
Difference, so that third detection light 1041 and the pulse of the 4th detection light 1042 are forcibly separating, to avoid blind area.It is dead eliminating
Under the premise of area, angular velocity measurement system can quickly measure absolute angular velocities, every 1ms one-shot measurement can be obtained as a result,
Real-time with higher.
After completing the calculating of the first magnitude of angular velocity and the second magnitude of angular velocity, the exact value of the first magnitude of angular velocity is obtained respectively
With the value range of the second angular speed, and it is combined calculating, obtains final magnitude of angular velocity.
The present embodiment uses the measurement method of coarse-fine combination, 40 shared frequency of the first optical path 30 and the second optical path
Comb light source realizes the large-range measuring of angular speed, and whole device structure on the basis of carrying out high-precision angular velocity measurement
Succinctly, it occupies little space, easy to use, practicability with higher.
The present invention also provides a kind of application system, which applies above-mentioned angular velocity measurement device, the application
System can be any movable object, e.g., aircraft, ship, vehicle etc..
Above-mentioned method for measuring angular velocity, measuring device and application system can not only eliminate the blind area of angular speed,
And measurement accuracy with higher and measurement range；Whole system structure is simple, and measuring speed is fast, by measuring system when detection
It is placed in determinand, the i.e. acceptable interference signal of detecting element obtains the angle speed of object by signal acquisition and data processing
Degree, it is quick and easy to use.
It is to be illustrated to presently preferred embodiments of the present invention, but the present invention is not limited to the embodiment above,
Those skilled in the art can also make various equivalent deformation or replacement on the premise of without prejudice to spirit of the invention, this
Equivalent deformation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (10)
1. a kind of method for measuring angular velocity, which comprises the steps of:
The measurement light is simultaneously divided into the first measurement light and the second measurement light by emission measurement light；
The first measurement light enters in the first optical path and obtains that the first magnitude of angular velocity, the second measurement light enter the second measurement
In optical path and obtain the second magnitude of angular velocity；
First magnitude of angular velocity and the second magnitude of angular velocity are combined calculating, obtain final magnitude of angular velocity.
2. method for measuring angular velocity according to claim 1, which is characterized in that the measurement method of first magnitude of angular velocity
It is as follows:
The first measurement light enters in first optical path and is divided into two-way in the beginning of first optical path, should
Two-way light transmits in first optical path in the opposite direction and is back to the beginning congregation of first optical path, obtains
It takes the amplitude of the phase difference of the two-way light to change, is changed according to amplitude and calculate the first magnitude of angular velocity.
3. method for measuring angular velocity according to claim 1, it is characterised in that: the measurement method of second magnitude of angular velocity
It is as follows:
Emit local oscillator light, the local oscillator light has repetition rate difference and Chong Die spectral region with the second measurement light, described
Second measurement light enters in second optical path and in the beginning of second optical path is divided into two-way, the two-way light with
Opposite direction, which is transmitted in second optical path and is back to the beginning of second optical path, can merge output light combination
Signal, the light combination signal and local oscillator optical signal carry out laser heterodyne interferometry and export interference signal, obtain the interference signal and root
The second magnitude of angular velocity is calculated according to interference signal.
4. method for measuring angular velocity according to claim 3, which is characterized in that separated the second measurement light two
Road light carries out pulse separation by the different separation optical path of light path.
5. a kind of angular velocity measurement device characterized by comprising
First transmitter is used for emission measurement light；
Second transmitter, for emitting local oscillator light；
First optical splitter is divided into the first measurement light and the second measurement light for receiving the measurement light, and by the measurement light；
First optical path, including the second optical splitter described in the second optical splitter receive the first measurement light, are based on described second
Optical splitter extends first annular optical path；
Second optical path, including third optical splitter, the third optical splitter receive the second measurement light, are based on the third
Optical splitter extends the second annular optical path, and the first different separation optical path of light path and second point are equipped in the described second annular optical path
From optical path；
4th optical splitter, for receiving the local oscillator light and exporting interference signal.
6. angular velocity measurement device according to claim 5, which is characterized in that second optical path includes the 5th point
Light device and the 6th optical splitter are connected with described first and separate optical path between the 5th optical splitter and the 6th optical splitter, and described
Second ring optical path one section between the 5th optical splitter and the 6th optical splitter forms second and separates optical path, and described first point
It is equipped with the first optoisolator from optical path, the second separation optical path is equipped with the second optoisolator, first optoisolator
It is opposite with the optical transmission direction of the second optoisolator.
7. angular velocity measurement device according to claim 5, which is characterized in that it further include light combination optical path, the light combination light
The input port on road is connected to the third optical splitter, and the delivery outlet of the light combination optical path is connected to the 4th optical splitter.
8. according to the described in any item angular velocity measurement devices of claim 5 to 7, which is characterized in that it further include light path, institute
The input terminal for stating light path is connected to the second transmitter, and the light path and light combination optical path are divided with the described 4th
It is connected at device.
9. according to the described in any item angular velocity measurement devices of claim 5 to 7, which is characterized in that further include detecting element with
Output element, the detecting element is used to detect the output signal in first optical path and the second optical path, described
Output element includes signal acquisition module and data processing module.
10. a kind of application system, which is characterized in that apply the described in any item angular velocity measurement devices of claim 5-9.
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