CN110160515A - A kind of method for measuring angular velocity, measuring system and carrier - Google Patents
A kind of method for measuring angular velocity, measuring system and carrier Download PDFInfo
- Publication number
- CN110160515A CN110160515A CN201910299404.8A CN201910299404A CN110160515A CN 110160515 A CN110160515 A CN 110160515A CN 201910299404 A CN201910299404 A CN 201910299404A CN 110160515 A CN110160515 A CN 110160515A
- Authority
- CN
- China
- Prior art keywords
- light
- signal
- optical path
- comb signal
- frequency comb
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Abstract
The present invention relates to a kind of method for measuring angular velocity, measuring system and carrier, method for measuring angular velocity includes that the first measurement light comb signal is carried out pulse with the second measurement light comb signal to separate；Light combination light comb signal and the second frequency comb signal carry out more difference interferences and export interference signal, angular velocity measurement system includes the first frequency comb transmitter, the second frequency comb transmitter, the first optical splitter, optical path and the 4th optical splitter, extend an annular optical path based on first optical splitter, it is different that first separation optical path from second separates the light path of optical path, 4th optical splitter receives the second frequency comb signal and the light combination light comb signal and exports interference signal, and carrier applies above-mentioned angular velocity measurement system.The angular speed of determinand can be obtained by acquiring the interference signal and carrying out analytical calculation, and the blind area of angular speed can be eliminated, increase the measurement range of angular speed, measurement accuracy with higher and measuring speed, real-time is good, easy to operate, and practicability is high.
Description
Technical field
The present invention relates to field of measuring technique more particularly to a kind of method for measuring angular velocity, measuring system and carrier.
Background technique
Sagnac interferometer is a kind of rotatable ring interferometer, and the light beam that same light source issues is decomposed into
Two beams, circulation merges the two-beam after a week in opposite direction in same loop, when loop plane is around perpendicular to closure optical path
Axis rotation when, because the inertia motion of light wave generates optical path difference between the two column light waves propagated in loop in opposite directions, realize two beams
The interference of light wave, and there are certain relationships between the relevant parameter of two-beam wave and rotation angle, by adjusting the correlation of light wave
The opposite angular speed of rotation can be obtained in parameter.
The drawbacks of can overcoming above-mentioned Sagnac interferometer that can only measure opposite angular speed using double frequency comb optical interference circuits,
But when the rotation speed of object is lower, the rotation angle of loop plane is small, and the variation of interference fringe caused by two-beam wave is small
It is even overlapped, detector is detected less than lightwave signal, and there are blind area.
Summary of the invention
The purpose of the present invention is to provide a kind of method for measuring angular velocity, measuring system and carrier, existing to overcome
Angular velocity measurement device cannot eliminate the defect of blind area.
The technical proposal adopted by the invention to solve the above technical problems is that:
A kind of method for measuring angular velocity, comprising the following steps:
Emit the first frequency comb signal and the second frequency comb signal, the first frequency comb signal and the second frequency comb are believed
Number with repetition rate difference and overlapping spectral region；
The first frequency comb signal is divided into the first opposite measurement light comb signal of transmission direction and the second measurement light comb
Signal；
The first measurement light comb signal is separated with the carry out pulse of the second measurement light comb signal；
The first measurement light comb signal and the second measurement light comb signal transmit in opposite directions and carry out light combination, are formed and are closed
Light light comb signal；
The light combination light comb signal and the second frequency comb signal carry out more difference interferences and export interference signal；
It obtains the interference signal and magnitude of angular velocity is calculated.
In a preferred embodiment, by the first measurement light comb signal and the second measurement light comb signal difference
By the different separation optical path of light path to realize that the first measurement light comb signal and the pulse of the second measurement light comb separate.
In a preferred embodiment, the calculation method of the magnitude of angular velocity includes:
Two interference signals in an interference periods are intercepted, obtain two interference signal center corresponding time differences
Δτ；
The magnitude of angular velocity Ω in an interference periods is calculated, the angular velocity vector Ω is obtained by following formula:
In above formula, n is Optical Fiber Winding circle number, and c is the light velocity, and A is the area that optical path surrounds, and Δ fr is the first optical frequency
The repetition rate combed between signal and the second frequency comb signal is poor, fsFor the repetition rate of the first frequency comb signal, 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.
In a preferred embodiment, the calculation method of the time difference Δ τ includes:
Obtain the time difference corresponding in two interference signals, two sections of time intervals in an intercepted interference periods
t0；
Fast Fourier Transform (FFT) 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,
And slope k is fitted using least square method；
The corresponding time difference Δ τ=k+t in interference signal center twice0。
A kind of angular velocity measurement system, comprising:
First frequency comb transmitter, the first frequency comb transmitter can issue the first frequency comb signal；
Second frequency comb transmitter, the second frequency comb transmitter can issue the second frequency comb signal, and described first
Frequency comb signal has repetition rate difference and Chong Die spectral region with the second frequency comb signal；
Optical path, including the first optical splitter, first optical splitter is for receiving the first frequency comb signal, base
Extend an annular optical path in first optical splitter, is equipped with the second optical splitter and third optical splitter, institute in the annular optical path
It states and is connected with the first separation optical path between the second optical splitter and third optical splitter, the annular optical path is located at second light splitting
One section between device and third optical splitter forms second and separates optical path, the light that the first separation optical path separates optical path with second
Cheng Butong；
4th optical splitter, the 4th optical splitter can receive the second frequency comb signal and export interference signal.
In a preferred embodiment, the first frequency comb signal is divided into the first survey by first optical splitter
Light comb signal and the second measurement light comb signal are measured, the first measurement light comb signal and the second measurement light comb signal are in institute
The transmission direction in annular optical path is stated on the contrary, the first measurement light comb signal is back to institute by the first separation optical path
The first optical splitter is stated, the second measurement light comb signal is by the second separation optical path and is back to first optical splitter
With the first measurement light comb signal light combination, light combination light comb signal, the second frequency comb signal and the light combination light are formed
Comb signal carries out more difference interferences at the 4th optical splitter and exports the interference signal.
In a preferred embodiment, it is described first separation optical path be equipped with the first optoisolator, described second point
It is equipped with the second optoisolator from optical path, the optical transmission direction of first optoisolator and the second optoisolator is on the contrary, described
The first end first end that separates optical path with described second of first separation optical path is connected at second optical splitter, and described the
The second end that the second end of one separation optical path separates optical path with described second is separated in the third to be connected at optical path.
It in a preferred embodiment, further include light combination optical path, output light path and light path, the light combination light
The input port on road is connected to first optical splitter, and the delivery outlet of the light combination optical path is connected to the 4th optical splitter, described
Light combination optical path is equipped with third optoisolator, and the input terminal of the output light path is connected to the first frequency comb transmitter,
The efferent duct of the output light path is connected to first optical splitter, and the output light path is equipped with the 4th optoisolator, described
The input terminal of light path is connected to the second frequency comb transmitter, and the light path and light combination optical path are with described
The connection of four optical splitters.
It in a preferred embodiment, further include detecting element and output element, the detecting element is for detecting
The interference signal, the output element include signal acquisition module and the data processing that connect with the signal acquisition module
Module, the acquisition module receive the interference signal and are sent to the data processing module.
The present invention also provides a kind of carriers, using above-mentioned angular velocity measurement system.
The present invention at least has the following beneficial effects:
The present invention provides a kind of method for measuring angular velocity, measuring system and carriers, by using poor with repetition rate
With the first frequency comb signal of overlapped spectra range and the second frequency comb signal as light source, the first measurement light comb signal and the
Sagnac effect occurs on optical path for two measurement light comb signals, and the first measurement light comb signal and second is made to measure light comb letter
Number light path change and generate phase delay, carry out more difference interferences in light combination light comb signal and the second frequency comb signal
After form interference signal, acquiring the interference signal and carrying out analytical calculation can be obtained the angular speed of determinand；And pass through
The pulse that setting separation optical path makes the first measurement light comb signal measure light comb signal with second in optical path separates, and disappears
Except the blind area of angular speed, increase the measurement range of angular speed；In addition, measurement accuracy also with higher and measuring speed,
Real-time is good, easy to operate, and practicability is high.
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 system one embodiment；
Fig. 3 is the light path principle figure of angular velocity measurement system 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
A part of the embodiment of invention, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art is not
Other embodiments obtained, belong to the scope of protection of the invention under the premise of making the creative labor.In addition, in patent
All connection/the connection relationships being related to not singly refer to that component directly connects, and referring to can lead to according to specific implementation situation
It crosses addition or reduces couple auxiliary, Lai Zucheng more preferably coupling structure.Each technical characteristic in the present invention, in not mutual lance
Shield can be with combination of interactions under the premise of conflicting.
Referring to Fig.1, the method for measuring angular velocity in the present embodiment includes the following steps:
Emit the first frequency comb signal and the second frequency comb signal；
First frequency comb signal is divided into the first measurement light comb signal and the second measurement light comb signal；
First measurement light comb signal and the second measurement light comb signal transmit in opposite directions in optical path, measure light for first
It combs signal and the second measurement light comb signal carries out pulse separation；
First measurement light comb signal and the second measurement light comb signal light combination are to form light combination light comb signal；
Light combination light comb signal and the second frequency comb signal carry out more difference interferences and export interference signal；
It obtains the interference signal and calculate and obtain magnitude of angular velocity.
Above-mentioned the first frequency comb signal and the second frequency comb signal is with repetition rate and spectral region has centainly
Overlapping；Second measurement light comb signal of the first above-mentioned measurement light comb signal has phase delay, so that the second measurement light comb letter
Number and second measurement light comb signal frequency comb pulse be separated by a distance, with avoid frequency comb measurement angular speed dead zone.
First measurement light comb signal is entered in optical path with the second measurement light comb signal with opposite transmission direction, and
It is opposite to return.Preferably, equipped with two separation optical paths that light path is different, the first measurement light comb signal in above-mentioned optical path
Pass through after this separates optical path respectively with the second measurement light comb signal and carries out light combination, the first measurement light comb after separating optical path
The frequency comb pulse of signal and the second measurement light comb signal is separated by force, achievees the purpose that eliminate blind area.
Further, the calculation method of above-mentioned 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 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 first frequency comb signal and the second frequency comb signal is poor, fsFor the first frequency comb letter
Number repetition rate, Δ τ is dry using two in Fourier transformation and interference periods finding out of least square method fitting
Relate to the corresponding difference of signal center.
Also, the repetition rate of the first frequency comb signal is fLQ, pass through formula ∧ 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 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 first
Measurement light comb signal and the second measurement light comb signal are exported in optical path with two-way light, therefore an interference week
Two apparent interference signals are able to observe that in phase.And 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 t0The corresponding poor Δ in two interference signal centers in interference periods that you can get it
τ。
I.e. under the premise of eliminating blind area, the second frequency comb signal is subjected to more heterodynes with light combination light comb signal and is done
Relate to the absolute angular velocities for acquiring the interference signal to form interference signal and being analyzed, be calculated object.The present embodiment
In method for measuring angular velocity, can be used for moving object absolute angular velocities measurement, if flyer is in flight course
Angular velocity measurement, such as aircraft, aircraft, spacecraft, cruise, automobile.
The present invention also provides a kind of angular velocity measurement systems comprising:
Referring to Fig. 2 and Fig. 3, the first frequency comb transmitter 10, the first frequency comb transmitter 10 is for emitting the first optical frequency
It combs signal 101 (indicating signal region in Fig. 3 with simple lines)；
Second frequency comb transmitter 20, the second frequency comb transmitter 20 is for emitting the second frequency comb signal 102；
First optical splitter 30, the first optical splitter 30 receive the first frequency comb signal 101, and by the first frequency comb signal 101
It is divided into the first measurement light comb signal 103 and the second measurement light comb signal 104；
Optical path 40 extends an annular optical path 41 based on the first optical splitter 30, is equipped with second in the annular optical path 41
Optical splitter 42 and third optical splitter 43 are connected with first between second optical splitter 42 and third optical splitter 43 and separate optical path 44, ring
Part of the shape optical path 41 between the second optical splitter 42 and third optical splitter 43 forms second and separates optical path 45, the first separation
It is different that optical path 44 from second separates the light path of optical path 45, and the first measurement light comb signal 103 is back to by the first separation optical path 44
First optical splitter 30, the second measurement light comb signal 104 by the second separation optical path 45 are back to the first optical splitter 30 and with the
One measurement 103 light combination of light comb signal, forms light combination light comb signal 105；
4th optical splitter 50, the 4th optical splitter 50 receive the second frequency comb signal 102 and light combination light comb signal 105, this
Two frequency comb signals 102 carry out more difference interferences at the 4th optical splitter 50 and export interference signal with light combination light comb signal 105
106。
Because the first separation optical path 44 is separated from second, the light path of optical path 45 is different, therefore by the first separation optical path 44
The frequency comb pulse that first measurement light comb signal 103 separates the second measurement light comb signal 104 of optical path 45 with by second is strong
Row separates, and overcomes when object rotation differences in angle is smaller, there are the non-detectable defects in dead zone, expand the survey of angular speed
Measure range.
Preferably, the first separation optical path 44 is equipped with the first optoisolator 441, and the second separation optical path 45 is equipped with second
Optoisolator 451, and the first optoisolator 441 and the second optoisolator 451 allow by light transmission direction phase
Instead, (first point is assumed herein because the first measurement light comb signal 103 is opposite with the second measurement transmission direction of light comb signal 104
Optical transmission direction from optical path 44 is identical as the first measurement transmission direction of light comb signal 103, and the light of the second separation optical path 45 passes
Defeated direction is identical as the second measurement transmission direction of light comb signal 104), the first measurement light comb signal 103 separates light from first
Road 44 passes through and is re-transmitted to the first optical splitter 30, and the second measurement light comb signal 104 can only pass through from the second separation optical path 45
And it is re-transmitted to the first optical splitter 30, with the first measurement 103 light combination of light comb signal transmitted in opposite directions.By above-mentioned setting,
Repeatedly transmission of the light beam in optical path 40 is avoided, spectrum overlapping is caused, influences measurement accuracy.
Preferably, the first end (in figure left side) of the first separation optical path 44 separates the first end of optical path 45 in the with second
It is connected at two optical splitters 42, the second end (in figure right side) of the first separation optical path 44 and second separates 45 second end of optical path in the
It is connected at three optical splitters 43.Second optical splitter 42 receives the first measurement light comb signal 103 spread out of from the first optical splitter 30 simultaneously
First measurement light comb signal 103 is divided, but due to the first optoisolator 441 and the second optoisolator 451 pairs of light every
From effect, the first measurement light comb signal 103 can only pass through and be transmitted to third optical splitter 43 from the first separation optical path 44, and from
Third optical splitter 43 is back to the first optical splitter 30；Third optical splitter 43 receives the second measurement spread out of from the first optical splitter 30
Light comb signal 104, the second measurement light comb signal 104 can only pass through from the second separation optical path 45 and be transmitted to the second optical splitter
42, and it is back to the first optical splitter 30 from the outflow of the second optical splitter 42, with the first measurement light comb signal 103 in the first optical splitter
It is coupled at 30, light combination.
It preferably, further include light combination optical path 60, the input port of light combination optical path 60 is connected to the first optical splitter 30, light combination light
The delivery outlet on road 60 is connected to the 4th optical splitter 50, and light combination optical path 60 is equipped with third optoisolator 61.Third optoisolator 61
Optical transmission direction it is identical as the transmission direction of light combination light comb signal 105, prevent other direction light beams from entering light combination optical path 60,
Influence measurement accuracy；Light combination light comb signal 105 is passed through light combination optical path 60 after the outflow of the first optical splitter 30, and passes through light combination light
Road 60 is passed through in the 4th optical splitter 50 and is coupled with the second frequency comb signal 102.
It preferably, further include light path 80, the 4th optical splitter 50 is located in light path 80 and receives the second frequency comb
Signal 102, the second frequency comb signal 102 carry out more difference interferences simultaneously with the light combination light comb signal 105 for entering the 4th optical splitter 50
Export interference signal 106.
It preferably, further include output light path 70, the input terminal of output light path 70 is connected to the first frequency comb transmitter 10,
The output end of output light path 70 is connected to the first optical splitter 30, and the 4th optoisolator 71 is additionally provided on output light path 70.First light
Frequency comb signal 101 enters output light path 70 after the sending of the first frequency comb transmitter 10, and is passed through the by output light path 70
One optical splitter 30, the optical transmission direction of the 4th optoisolator 71 is identical as the transmission direction of the first frequency comb signal 101, avoids
The the first measurement light comb signal 103 and the second measurement light comb signal 104 returned from annular optical path 41 is back to output again
In optical path 70.
It further include detecting element 90 and output element (not shown), detecting element 90 is connect with output element, and is located at inspection
It surveys in optical path 80, detecting element 90 carries out signal transmission for detecting interference signal 106.Output element includes signal acquisition
Module and data processing module, signal acquisition module receive the interference signal 106 and are transmitted to data processing module and counted
It calculates.Preferably, signal acquisition module includes that high-speed signal acquisition part and interference signal 106 intercept part, data processing module
Including fast Fourier transformation operation part, least square method fit slope calculating section, brings formula into and asks angular speed part,
Above-mentioned high-speed signal acquisition part, the interception of interference signal 106 part, fast Fourier transformation operation part, least square method
Fit slope part and substitution formula ask angular speed part to be sequentially connected.
The first above-mentioned frequency comb transmitter 10 and the stable frequency comb laser of 20 selected frequency of the second frequency comb transmitter
Device, the first frequency comb signal 101 have small repetition difference with the second frequency comb and possess overlapping spectral region.First light
The repetition rate of frequency comb transmitter 10 distinguishes fLORepetition rate with the second frequency comb is fS, repetition difference Δ fr=fS-fLO.Cause
It is measured in measuring system using all -fiber, noise is relatively high, adjusts the first frequency comb signal 101 respectively and the second frequency comb is believed
Numbers 102 intensity, makes the half of the optical power of the first frequency comb of optical power signal 101 of the second frequency comb signal 102
When, the signal-to-noise ratio of entire measuring system is optimized for maximum.
Single point detector can be selected in detecting element 90, independent simultaneously can detect two by a single point detector
The measuring signal on road, measurement accuracy are high.Narrow band filter, interference signal are equipped between 4th optical splitter 50 and detecting element 90
106 after a narrow band filter by high wideband detector by being received, and can guarantee double frequency combs by using optical filter
Spectrum overlapping does not occur for more difference interferences.
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 frequency comb repetition
When a quarter position, signal aliasing reaches minimum, and the precision of angular velocity measurement system reaches maximum.
Filter is equipped between detecting element 90 and output element, the signal that detecting element 90 issues first passes through one wide
The general low-pass filter of band about repetition rate reuses output element and carries out signal collection, and above-mentioned setting can remove letter
Incoherent part in number can directly obtain continuous interference signal 106, and the sampling period of output element can also be according to reality
Border situation reasonable set.
Frequency comb is in the carrier envelope pulse that time domain representation is femtosecond, using frequency comb as the light source of optical path 40,
When putting object under test generation angular speed, the first measurement light comb signal 103 and the second measurement light comb signal 104 are in the first optical splitter
Sagnac effect is generated at 30, the first measurement light comb signal 103 and the second measurement light comb signal 104 are in annular optical path 41
Light path changes, and has different phase delay, and the pulse of light combination light comb signal 105 originally is split into time shift
Constant dipulse, i.e. two-beam generate the different interference signal 106 in two positions.The amplitude of these interference signals 106 is big
Small approximately uniform, the time shift between dipulse is small, and the measurement of general detection method is difficult, it is therefore desirable to use one and the
The second frequency comb signal 102 of small repetition rate difference and two groups of measurement light pulses carry out outside mostly one frequency comb signal 101 again
Difference interference.If using the pulse signal of the second frequency comb signal 102 as the external clock of starting sampling, collected point is exactly
The cross-correlation function of second frequency comb signal 102 and two groups of measurement light pulses, time delay and script between two groups of cross-correlation functions
Time delay between there are a fixed multiple proportion, be fitted respectively Fourier transformation phase frequency spectrum slope can find out two groups it is mutual
Time delay between correlation function.I.e. by the way that two measurement light comb signals and the second frequency comb signal 102 are carried out more difference interferences
Interference signal 106 is formed, interference signal 106 is acquired and analysis is handled, obtains the angular speed of the rotation of optical path 40
Value.
Using the single interference period as process cycle, an angular speed measuring and calculating, detecting element are carried out for each process cycle
Interference signal 106 in the 90 each interference periods of interception is interfered since light is exported in optical path 40 with two-way at one
It can be truncated to two apparent interference signals 106 in period, find out two using Fourier transformation and least square method fitting
The corresponding time difference Δ τ in secondary 106 center of interference signal, then following public affairs can be used in the angular velocity vector Ω of testee in signal period
Formula is found out.
In above formula, n is the winding circle number of annular optical path 41, and c is the light velocity, the area that A is surrounded for annular optical path 41, Δ
frRepetition rate between the first frequency comb signal 101 and the second frequency comb signal 102 is poor, Δ frFor the weight of the first frequency comb
Complex frequency, when Δ τ is corresponding with 106 center of two sides interference signal that least square method fitting is found out using Fourier's variation
Between it is poor.
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 using least square method
Slope 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, can calculate
Magnitude of angular velocity in the single interference period, i.e. Δ τ=k+t out0。
Therefore above-mentioned Formula for Angular Velocity of Fuze can be deformed into:
In above-mentioned measurement process, when object generates angular speed, the first measurement light comb signal 103 and the second measurement light comb
It is the situation larger based on object angular velocity of rotation that signal 104 forms the constant dipulse of time shift in optical path 40, in object
When body angular speed is smaller, difference is small between two dipulses, is almost overlapped, and two dipulses pass through common detection device base
This detection is less than there are the blind area of angular speed.
It is equipped with the first separation optical path 44 in optical path 40 and separates optical path 45, the first separation optical path 44 and second with second
The light path for separating optical path 45 is different, and allow by light transmission direction on the contrary, therefore the first measurement light comb signal 103 with
Second measurement light comb signal 104 can only pass through from different separation optical paths respectively, because the first separation optical path 44 is separated with second
The light path of optical path 45 is different, so that the pulse of the first measurement light comb signal 103 and the second measurement light comb signal 104 is forcibly separating,
To avoid blind area.Under the premise of deadband eliminating, angular velocity measurement system can quickly measure absolute angular velocities, often
One-shot measurement can be obtained by 1ms as a result, real-time with higher.
The present invention also provides a kind of carrier, which applies above-mentioned angular velocity measurement system, which, which can be, appoints
What movable object, e.g., aircraft, ship, vehicle etc..
Above-mentioned method for measuring angular velocity, measuring system and carrier can eliminate the blind area of angular speed, have higher
Measurement accuracy and measurement range；Whole system structure is simple, and measuring speed is fast, and measuring system is placed in be measured by when detection
In object, the i.e. acceptable interference signal 106 of detecting element 90 obtains the angular speed of object by signal acquisition and data processing,
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,
These equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of method for measuring angular velocity, which comprises the following steps:
Emit the first frequency comb signal and the second frequency comb signal, the first frequency comb signal has with the second frequency comb signal
Repetition rate difference and the spectral region of overlapping；
The first frequency comb signal is divided into the first opposite measurement light comb signal of transmission direction and the second measurement light comb signal；
The first measurement light comb signal is carried out pulse with the second measurement light comb signal to separate；
The first measurement light comb signal and the second measurement light comb signal transmit in opposite directions and carry out light combination, form light combination light comb
Signal；
The light combination light comb signal and the second frequency comb signal carry out more difference interferences and export interference signal；
It obtains the interference signal and magnitude of angular velocity is calculated.
2. method for measuring angular velocity according to claim 1, which is characterized in that by the first measurement light comb signal and the
Two measurement light comb signals pass through the different separation optical path of light path respectively to realize the first measurement light comb signal and the second measurement
The pulse of light comb separates.
3. method for measuring angular velocity according to claim 1, which is characterized in that the calculation method packet of the magnitude of angular velocity
It includes:
Two interference signals in an interference periods are intercepted, obtain the two corresponding time difference Δ τ in interference signal center；
The magnitude of angular velocity Ω in an interference periods is calculated, the angular velocity vector Ω is obtained by following formula:
In above formula, n is Optical Fiber Winding circle number, and c is the light velocity, and A is the area that optical path surrounds, Δ frFor the first frequency comb signal
Repetition rate between the second frequency comb signal is poor, fsFor the repetition rate of the first frequency comb signal, Δ τ is to utilize Fourier
Convert difference corresponding with two interference signal centers in the interference periods that least square method fitting is found out.
4. method for measuring angular velocity according to claim 3, which is characterized in that the calculation method packet of the time difference Δ τ
It includes:
Obtain time difference t corresponding in two interference signals, two sections of time intervals in an intercepted interference periods0；
Fast Fourier Transform (FFT) 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, and benefit
Slope k is fitted with least square method；
The corresponding time difference Δ τ=k+t in interference signal center twice0。
5. a kind of angular velocity measurement system characterized by comprising
First frequency comb transmitter, the first frequency comb transmitter can issue the first frequency comb signal；
Second frequency comb transmitter, the second frequency comb transmitter can issue the second frequency comb signal, first optical frequency
Combing signal has repetition rate difference and Chong Die spectral region with the second frequency comb signal；
Optical path, including the first optical splitter, first optical splitter is for receiving the first frequency comb signal, based on described
First optical splitter extends an annular optical path, is equipped with the second optical splitter and third optical splitter in the annular optical path, and described second
The first separation optical path is connected between optical splitter and third optical splitter, the annular optical path is located at second optical splitter and third
One section between optical splitter forms the second separation optical path, and it is different that the first separation optical path from second separates the light path of optical path；
4th optical splitter, the 4th optical splitter can receive the second frequency comb signal and export interference signal.
6. angular velocity measurement system according to claim 5, which is characterized in that first optical splitter is by first light
Frequency comb signal is divided into the first measurement light comb signal and the second measurement light comb signal, the first measurement light comb signal and described second
Transmission direction of the light comb signal in the annular optical path is measured on the contrary, the first measurement light comb signal passes through described first point
It is back to first optical splitter from optical path, the second measurement light comb signal is by the second separation optical path and is back to institute
State the first optical splitter and it is described first measurement light comb signal light combination, formed light combination light comb signal, the second frequency comb signal with
The light combination light comb signal carries out more difference interferences at the 4th optical splitter and exports the interference signal.
7. angular velocity measurement system according to claim 5, which is characterized in that the first separation optical path is equipped with first
Optoisolator, the second separation optical path are equipped with the second optoisolator, first optoisolator and the second optoisolator
Optical transmission direction is on the contrary, the first end of the first separation optical path separates the first end of optical path in described second point with described second
It is connected at light device, the second end that the second end of the first separation optical path separates optical path with described second separates light in the third
It is connected at road.
8. according to the described in any item angular velocity measurement systems of claim 5 to 7, which is characterized in that further include light combination optical path, defeated
Optical path and light path out, the input port of the light combination optical path are connected to first optical splitter, the output of the light combination optical path
Mouthful be connected to the 4th optical splitter, the light combination optical path equipped with third optoisolator, the input terminal of the output light path and
The first frequency comb transmitter connection, the efferent duct of the output light path are connected to first optical splitter, the output light
Road is equipped with the 4th optoisolator, and the input terminal of the light path is connected to the second frequency comb transmitter, the detection
Optical path and light combination optical path are connected to the 4th optical splitter.
9. angular velocity measurement system according to claim 8, which is characterized in that it further include detecting element and output element,
The detecting element for detecting the interference signal, the output element include signal acquisition module and with the signal acquisition
The data processing module of module connection, the acquisition module receive the interference signal and are sent to the data processing module.
10. a kind of carrier, which is characterized in that apply the described in any item angular velocity measurement systems of claim 5-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910299404.8A CN110160515B (en) | 2019-04-15 | 2019-04-15 | Angular velocity measuring method, angular velocity measuring system and carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910299404.8A CN110160515B (en) | 2019-04-15 | 2019-04-15 | Angular velocity measuring method, angular velocity measuring system and carrier |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110160515A true CN110160515A (en) | 2019-08-23 |
| CN110160515B CN110160515B (en) | 2020-12-22 |
Family
ID=67639495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910299404.8A Active CN110160515B (en) | 2019-04-15 | 2019-04-15 | Angular velocity measuring method, angular velocity measuring system and carrier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110160515B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110927092A (en) * | 2019-11-29 | 2020-03-27 | 清华大学 | Double-electromagnetic-frequency comb type mid-infrared spectrometer |
| CN112361955A (en) * | 2020-11-16 | 2021-02-12 | 中国航空工业集团公司北京长城计量测试技术研究所 | Optical fiber Sagnac interferometer based on femtosecond laser |
| CN114527293A (en) * | 2022-02-07 | 2022-05-24 | 中国航空工业集团公司北京长城计量测试技术研究所 | High-precision rotation speed measuring method based on femtosecond optical frequency comb |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007221061A (en) * | 2006-02-20 | 2007-08-30 | Thales | Dead-zone free stabilized semiconductor laser gyro |
| CN101650158A (en) * | 2008-08-15 | 2010-02-17 | 天津市天坤光电技术有限公司 | Differential planar reflector laser interference system for measuring linear displacement |
| CN104934841A (en) * | 2015-06-23 | 2015-09-23 | 南京朗研光电科技有限公司 | High-energy pulse laser separation and compression method and device |
| CN106289073A (en) * | 2016-09-29 | 2017-01-04 | 清华大学深圳研究生院 | Femtosecond laser range unit and method |
| CN107192355A (en) * | 2017-06-30 | 2017-09-22 | 清华大学 | A kind of pair of light comb precision angle method and angle measuring system |
| CN107727058A (en) * | 2017-09-28 | 2018-02-23 | 清华大学 | A kind of frequency comb six degree of freedom measuring method and measuring system |
| CN108291842A (en) * | 2015-11-18 | 2018-07-17 | 基础科学研究院 | The waveform meter and method of light wave |
| CN109141276A (en) * | 2018-07-06 | 2019-01-04 | 华东师范大学 | A kind of double optics frequency comb line spectrum coded imaging method |
| CN109238153A (en) * | 2018-09-12 | 2019-01-18 | 清华大学深圳研究生院 | Double frequency comb thickness measuring light channel structures, system, method, apparatus and storage medium |
| CN109556593A (en) * | 2018-10-09 | 2019-04-02 | 清华大学深圳研究生院 | A kind of angular velocity measurement device, method and its carrier |
-
2019
- 2019-04-15 CN CN201910299404.8A patent/CN110160515B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007221061A (en) * | 2006-02-20 | 2007-08-30 | Thales | Dead-zone free stabilized semiconductor laser gyro |
| CN101650158A (en) * | 2008-08-15 | 2010-02-17 | 天津市天坤光电技术有限公司 | Differential planar reflector laser interference system for measuring linear displacement |
| CN104934841A (en) * | 2015-06-23 | 2015-09-23 | 南京朗研光电科技有限公司 | High-energy pulse laser separation and compression method and device |
| CN108291842A (en) * | 2015-11-18 | 2018-07-17 | 基础科学研究院 | The waveform meter and method of light wave |
| CN106289073A (en) * | 2016-09-29 | 2017-01-04 | 清华大学深圳研究生院 | Femtosecond laser range unit and method |
| CN107192355A (en) * | 2017-06-30 | 2017-09-22 | 清华大学 | A kind of pair of light comb precision angle method and angle measuring system |
| CN107727058A (en) * | 2017-09-28 | 2018-02-23 | 清华大学 | A kind of frequency comb six degree of freedom measuring method and measuring system |
| CN109141276A (en) * | 2018-07-06 | 2019-01-04 | 华东师范大学 | A kind of double optics frequency comb line spectrum coded imaging method |
| CN109238153A (en) * | 2018-09-12 | 2019-01-18 | 清华大学深圳研究生院 | Double frequency comb thickness measuring light channel structures, system, method, apparatus and storage medium |
| CN109556593A (en) * | 2018-10-09 | 2019-04-02 | 清华大学深圳研究生院 | A kind of angular velocity measurement device, method and its carrier |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110927092A (en) * | 2019-11-29 | 2020-03-27 | 清华大学 | Double-electromagnetic-frequency comb type mid-infrared spectrometer |
| CN112361955A (en) * | 2020-11-16 | 2021-02-12 | 中国航空工业集团公司北京长城计量测试技术研究所 | Optical fiber Sagnac interferometer based on femtosecond laser |
| CN112361955B (en) * | 2020-11-16 | 2022-07-08 | 中国航空工业集团公司北京长城计量测试技术研究所 | Optical fiber Sagnac interferometer based on femtosecond laser |
| CN114527293A (en) * | 2022-02-07 | 2022-05-24 | 中国航空工业集团公司北京长城计量测试技术研究所 | High-precision rotation speed measuring method based on femtosecond optical frequency comb |
| CN114527293B (en) * | 2022-02-07 | 2024-04-12 | 中国航空工业集团公司北京长城计量测试技术研究所 | High-precision rotating speed measuring method based on femtosecond optical frequency comb |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110160515B (en) | 2020-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110160515A (en) | A kind of method for measuring angular velocity, measuring system and carrier | |
| CN107192355B (en) | A kind of double light comb precision angle methods and angle measuring system | |
| CN104007442B (en) | Continuous laser frequency modulation range measurement device and method based on resampled signal splicing method | |
| US11867555B2 (en) | Phase measurement method and signal processing device | |
| CN109164430A (en) | Utilize the system and method for return laser beam and laser spot detection target position and posture | |
| CN107727058B (en) | Optical frequency comb six-degree-of-freedom measuring method and measuring system | |
| CN104764898B (en) | It is a kind of to realize two kinds of velocity measuring techniques to a measuring point while the device of repetition measurement using single probe monochromatic light road | |
| CN104655032B (en) | High-precision distance measurement system and method based on orthogonal chromatic dispersion spectral domain interferometer | |
| CN109556593A (en) | A kind of angular velocity measurement device, method and its carrier | |
| US20080043219A1 (en) | Interferometric Rayleigh Scattering Measurement System | |
| CN103837077A (en) | Composite wave interferometry ranging distance system with two femtosecond laser frequency combs | |
| US20230073827A1 (en) | Signal processing methods for an optical detection system | |
| CN110132138A (en) | Double swept light source range-measurement systems and method based on cascade interferometer | |
| CN104833816A (en) | Laser doppler velocity measurement device based on rotating grating and velocity measurement method of laser doppler velocity measurement device | |
| US5526109A (en) | Multi-velocity component LDV | |
| CN106452570A (en) | Optical fiber fault detection system and detection method based on optical fiber phase mediation principle | |
| CN105319386A (en) | Method and device of active speed measurement on the basis of modulated laser | |
| CN105629259B (en) | Orthoptic synthetic aperture laser imaging radar local oscillator strengthens optics plural numberization reception device | |
| CN113721287A (en) | Monitoring method and device based on sensing optical fiber | |
| US10082382B2 (en) | Phasing an optical interferometer using the radio emission from the target being observed | |
| CN104568151B (en) | A kind of high spectrum full polarization imaging device and method based on symmetric wedge interference cavity | |
| CN113316710B (en) | Vibration detection method, signal processing device, and storage medium | |
| CN110006418A (en) | Method for measuring angular velocity, device and application system | |
| CN109031341B (en) | Object movement speed measuring method using continuous frequency modulation laser radar device | |
| CN204575674U (en) | Based on the laser Doppler speed measuring device of rotating grating |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |