CN110360998B - Detection system and method of resonant optical gyroscope based on pulse light detection - Google Patents
Detection system and method of resonant optical gyroscope based on pulse light detection Download PDFInfo
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- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/66—Ring laser gyrometers
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- 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
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- G01C19/661—Ring laser gyrometers details
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Abstract
The invention discloses a detection system and a detection method of a resonant optical gyroscope based on pulse light detection. The invention firstly carries out phase modulation on continuous light output by a laser, then converts the continuous light into pulsed light through a pulsed light modulator driven by two paths of pulse signals with opposite phases, inputs the pulsed light into an optical ring-shaped resonant cavity, and synchronously demodulates clockwise and anticlockwise output signals of the resonant cavity, wherein one path of demodulation outputs the frequency of the laser through a servo loop, and the other path of demodulation outputs the rotation signal as a gyroscope. The invention separates clockwise and anticlockwise light beams in the ring resonant cavity in time by using the pulse light beams, and avoids energy coupling between signal light and back scattering light, thereby eliminating back scattering noise and improving the signal-to-noise ratio of output signals; meanwhile, the reciprocity of the system is improved.
Description
Technical Field
The invention relates to the technical field of signal detection, in particular to a detection system and a detection method of a resonant optical gyroscope based on pulse light detection. The resonant optical gyroscope comprises a resonant optical fiber gyroscope taking an optical fiber ring resonant cavity as a sensitive element and a resonant integrated optical gyroscope taking an optical waveguide ring resonant cavity as a core sensitive element.
Background
Resonant Optical Gyros (ROGs) are miniature inertial sensors that use the optical Sagnac effect to achieve high accuracy in rotational detection. The resonant optical gyro without vibration part has the advantages of small size, high precision, vibration resistance, etc. Compared with Micro Electro Mechanical Systems (MEMS) and Interferometric Fiber Optic Gyroscope (IFOG), ROG has greater advantages in miniaturization and integration.
Since the Sagnac effect is a weak effect and the optical noise in the resonant optical gyroscope is strong, the signal detection and noise suppression technology plays a very important role. The backscattering noise is the most dominant optical noise in the resonant optical gyroscope, and is mainly influenced by noise of an interference term and an intensity term. The two modulation frequencies are usually staggered to suppress the noise influence of the intensity term, but the reciprocity of the system is damaged; the effect of noise of interference terms is usually suppressed by a carrier suppression method, but the carrier suppression method deteriorates random walk of the system, and the control accuracy of modulation amplitude by carrier suppression is often required to be high, and the realization is difficult.
Disclosure of Invention
The invention aims to provide a detection system and a detection method of a resonant optical gyroscope based on pulse light detection, aiming at overcoming the problem of back scattering noise existing in the traditional continuous wave detection.
The purpose of the invention is realized by the following technical scheme:
the invention discloses a detection system of a resonant optical gyroscope based on pulse light detection, which comprises an optical system consisting of a tunable laser, a phase modulator, a pulse light modulator, an optical resonant cavity and a photoelectric detector and a signal processing system consisting of a pulse signal generation module, a signal modulation and demodulation module and a feedback locking module, wherein the tunable laser is used for transmitting a pulse signal to the optical system; the tunable laser, the phase modulator and the pulse light modulator are sequentially connected through optical fibers; two paths of outputs of the pulse light modulator are connected with the optical resonant cavity, the output of the optical resonant cavity is connected with the photoelectric detector through an optical fiber, an output signal of the photoelectric detector is input into the modulation and demodulation module, a modulation signal generated by the signal modulation and demodulation module is input into the phase modulator, a demodulation signal generated by the signal modulation and demodulation module is input into the feedback locking module, and the feedback locking module is connected with the tunable laser; the resonant optical gyro signal generated by the signal modulation and demodulation module is input to a data recorder; the pulse signal generating module is connected with the pulse light modulator. The detection method of the detection system comprises the following steps:
(1) phase modulation: laser emitted by the tunable laser is modulated by a phase modulator, wherein a driving signal of the phase modulator is a modulation signal U generated by a signal modulation and demodulation module1(t)；
(2) Conversion of continuous light into pulsed light: continuous light subjected to phase modulation is input into a pulse light modulator driven by a pulse signal generating module to generate two beams of pulse light which are switched with each other, so that mutual coupling between back scattering light and signal light is avoided, and back scattering noise is suppressed;
(3) and (3) demodulation of signals: the light beams which are formed after passing through the pulse light modulator and switched with each other are input into the optical resonant cavity to form two counter-clockwise and clockwise resonant light beams; the two beams of light respectively enter a photoelectric converter to be converted into electric signals; signal modulation and demodulation module generation and U1(t) demodulating the electrical signal by the same frequency reference signal;
(4) and (3) gyro signal output: the counter-clockwise path signal is transmitted to the feedback locking module as a demodulation signal after being demodulated, and the feedback locking module performs proportional and integral operation processing on the counter-clockwise path signal and then performs feedback control on the tunable laser; and the clockwise signal is demodulated to be used as a resonant optical gyro signal and is output to the data recorder.
The invention also discloses another detection system of the resonant optical gyroscope based on pulse light detection, which comprises an optical system consisting of a tunable laser, a first phase modulator, a pulse light modulator, a second phase modulator, an attenuator, an optical resonant cavity and a photoelectric detector and a signal processing system consisting of a pulse signal generation module, a signal modulation and demodulation module, a feedback locking module and a servo frequency shift module; the tunable laser, the first phase modulator and the pulse light modulator are sequentially connected through optical fibers; one path of output of the pulse light modulator is input into the optical resonant cavity after passing through the second phase modulator, and the other path of output of the pulse light modulator is input into the optical resonant cavity after passing through the attenuator; the output of the optical resonant cavity is respectively input into a signal modulation and demodulation module after being subjected to photoelectric conversion by a photoelectric detector, the pulse signal generation module is connected with the pulse light modulator, a modulation signal generated by the signal modulation and demodulation module is input into the first phase modulator, a demodulation signal generated by the signal modulation and demodulation module demodulating a counterclockwise signal is input into the feedback locking module, and the feedback locking module is connected with the tunable laser; the signal modulation and demodulation module demodulates the demodulation signal generated by the clockwise signal and inputs the demodulation signal to the servo frequency shift module, and the servo frequency shift module is connected with the second phase modulator.
The detection method of the detection system comprises the following steps:
(1) phase modulation: laser emitted by the tunable laser is modulated by a phase modulator, wherein a driving signal of the phase modulator is a modulation signal U generated by a signal modulation and demodulation module1(t)；
(2) Conversion of continuous light into pulsed light: continuous light subjected to phase modulation is input into a pulse light modulator driven by a pulse signal generating module to generate two beams of pulse light which are switched with each other, so that mutual coupling between back scattering light and signal light is avoided, and back scattering noise is suppressed;
(3) and (3) demodulation of signals: the switched light beams formed by the pulse light modulator are respectively input into the optical resonant cavity after passing through the second phase modulator and the attenuator to form two counterclockwise and clockwise resonant light beams which respectively enter the photoelectric converter to be converted into electric signals, and the signal modulation and demodulation module generates and U1(t) demodulating the electrical signal by the same frequency reference signal;
(4) and (3) gyro signal output: the counter-clockwise path signal is transmitted to the feedback locking module as a demodulation signal after being demodulated, and the feedback locking module performs proportional and integral operation processing on the counter-clockwise path signal and then performs feedback control on the tunable laser; the clockwise path signal is transmitted to the servo frequency shift module after being demodulated, and the servo frequency shift module generates sawtooth waves to act on the second phase modulator, so that the clockwise path in the optical resonant cavity also works on a resonant frequency point; the frequency signal of the sawtooth wave is used as a frequency shift quantity and is used as a rotation output signal of the gyro.
Preferably, the pulsed light modulator is an optical modulator such as an acousto-optic modulator, a mach-zehnder modulator, or a magneto-optic modulator.
The invention has the following beneficial effects:
the backscattering noise is one of the most dominant optical noises in the resonant optical gyroscope, and is mainly influenced by noise of an interference term and an intensity term. Two independent phase modulators are usually inserted into clockwise and counterclockwise optical paths, and different modulation frequencies are adopted to suppress the noise influence of the intensity term, but the reciprocity of the system is damaged; the effect of noise of interference terms is usually suppressed by a carrier suppression method, but the carrier suppression method deteriorates random walk of the system, and the control accuracy of modulation amplitude by carrier suppression is often required to be high, and the realization is difficult. The invention adopts the single phase modulator to perform same-frequency modulation on clockwise light and anticlockwise light, and can well eliminate reciprocity noise in a system. Meanwhile, clockwise light and anticlockwise light are switched in time through the pulse light modulator, mutual coupling between the back scattering light and the signal light is avoided, the influence of back scattering noise can be eliminated without carrying out carrier suppression, and the signal-to-noise ratio of an output signal is improved.
Drawings
FIG. 1 is a schematic structural diagram of a first resonant optical gyro detection system based on pulse light detection according to the present invention;
FIG. 2 is a schematic structural diagram of a second resonant optical gyroscope detection system based on pulsed light detection according to the present invention;
FIG. 3 is a graph illustrating the output of the demodulated signal;
FIG. 4 is a schematic diagram of the relationship between the clockwise and counterclockwise resonant frequencies and the laser frequency when the resonant optical gyroscope is rotated;
FIG. 5 is a schematic diagram of an embodiment of a resonant optical gyroscope detection system based on pulse light detection;
in the figure: 1. the device comprises a tunable laser, a 2 phase modulator, a 3, 1 multiplied by 2 coupler, a 4 first pulse optical modulator, a 5 second pulse optical modulator, a 6 pulse signal generating module, a 7 first photoelectric detector, an 8 second photoelectric detector, a 9 first circulator, a 10 second circulator, an 11 optical resonant cavity, a 12 signal modulation and demodulation module, a 13 data recorder, a 14 feedback locking module.
Detailed Description
The present invention will be described in detail below with reference to examples and drawings, but the present invention is not limited thereto.
As shown in fig. 1, the detection system of a resonant optical gyroscope based on pulse light detection includes an optical system composed of a tunable laser, a phase modulator, a pulse light modulator, an optical resonant cavity and a photodetector, and a signal processing system composed of a pulse signal generation module, a signal modulation and demodulation module, and a feedback locking module; the tunable laser, the phase modulator and the pulse light modulator are sequentially connected through optical fibers; two paths of outputs of the pulse light modulator are connected with the optical resonant cavity, the output of the optical resonant cavity is connected with the photoelectric detector through an optical fiber, an output signal of the photoelectric detector is input into the modulation and demodulation module, a modulation signal generated by the signal modulation and demodulation module is input into the phase modulator, a demodulation signal generated by the signal modulation and demodulation module is input into the feedback locking module, and the feedback locking module is connected with the tunable laser; the resonant optical gyro signal generated by the signal modulation and demodulation module is input to a data recorder; the pulse signal generating module is connected with the pulse light modulator.
The detection method of the detection system comprises the following steps:
(1) phase modulation: laser emitted by the tunable laser is modulated by a phase modulator, wherein a driving signal of the phase modulator is a modulation signal U generated by a signal modulation and demodulation module1(t)；
(2) Conversion of continuous light into pulsed light: continuous light subjected to phase modulation is input into a pulse light modulator driven by a pulse signal generating module to generate two beams of pulse light which are switched with each other, so that mutual coupling between back scattering light and signal light is avoided, and back scattering noise is suppressed;
(3) and (3) demodulation of signals: the light beams which are formed after passing through the pulse light modulator and switched with each other are input into the optical resonant cavity to form two counter-clockwise and clockwise resonant light beams; the two beams of light respectively enter a photoelectric converter to be converted into electric signals; signal modulation and demodulation module generation and U1(t) demodulating the electrical signal by the same frequency reference signal;
(4) and (3) gyro signal output: the counter-clockwise path signal is transmitted to the feedback locking module as a demodulation signal after being demodulated, and the feedback locking module performs proportional and integral operation processing on the counter-clockwise path signal and then performs feedback control on the tunable laser; and the clockwise signal is demodulated to be used as a resonant optical gyro signal and is output to the data recorder.
As shown in fig. 2, the detection system is a resonant optical gyroscope detection system based on pulse light detection, and includes an optical system composed of a tunable laser, a first phase modulator, a pulse light modulator, a second phase modulator, an attenuator, an optical resonant cavity, and a photodetector, and a signal processing system composed of a pulse signal generation module, a signal modulation and demodulation module, a feedback locking module, and a servo frequency shift module; the tunable laser, the first phase modulator and the pulse light modulator are sequentially connected through optical fibers; one path of output of the pulse light modulator is input into the optical resonant cavity after passing through the second phase modulator, and the other path of output of the pulse light modulator is input into the optical resonant cavity after passing through the attenuator; the output of the optical resonant cavity is respectively input into a signal modulation and demodulation module after being subjected to photoelectric conversion by a photoelectric detector, the pulse signal generation module is connected with the pulse light modulator, a modulation signal generated by the signal modulation and demodulation module is input into the first phase modulator, a demodulation signal generated by the signal modulation and demodulation module demodulating a counterclockwise signal is input into the feedback locking module, and the feedback locking module is connected with the tunable laser; the signal modulation and demodulation module demodulates the demodulation signal generated by the clockwise signal and inputs the demodulation signal to the servo frequency shift module, and the servo frequency shift module is connected with the second phase modulator.
The detection method of the detection system comprises the following steps:
(1) phase modulation: laser emitted by the tunable laser is modulated by a phase modulator, wherein a driving signal of the phase modulator is a modulation signal U generated by a signal modulation and demodulation module1(t)；
(2) Conversion of continuous light into pulsed light: continuous light subjected to phase modulation is input into a pulse light modulator driven by a pulse signal generating module to generate two beams of pulse light which are switched with each other, so that mutual coupling between back scattering light and signal light is avoided, and back scattering noise is suppressed;
(3) and (3) demodulation of signals: the mutually switched light beams formed after passing through the pulse light modulator are respectively input into the light after passing through the second phase modulator and the attenuatorThe optical resonant cavity forms two counterclockwise and clockwise resonant beams which enter the photoelectric converter respectively and are converted into electric signals, and the signal modulation and demodulation module generates a signal U1(t) demodulating the electrical signal by the same frequency reference signal;
(4) and (3) gyro signal output: the counter-clockwise path signal is transmitted to the feedback locking module as a demodulation signal after being demodulated, and the feedback locking module performs proportional and integral operation processing on the counter-clockwise path signal and then performs feedback control on the tunable laser; the clockwise path signal is transmitted to the servo frequency shift module after being demodulated, and the servo frequency shift module generates sawtooth waves to act on the second phase modulator, so that the clockwise path in the optical resonant cavity also works on a resonant frequency point; the frequency signal of the sawtooth wave is used as a frequency shift quantity and is used as a rotation output signal of the gyro.
As shown in fig. 3, the output demodulation curve of the resonant optical gyro based on pulse light detection is shown. The demodulation curve reflects the relationship of the resonant frequency difference to the demodulation amplitude. The middle linear area is the working range of the gyroscope, when the gyroscope rotates, a resonance frequency difference is generated, and the corresponding demodulation value is converted through a scale factor, so that the rotation angular speed of the gyroscope can be calculated.
As shown in fig. 4, the relationship between the clockwise and counterclockwise resonant frequencies and the laser frequency when the resonant optical gyroscope rotates is schematically illustrated, the laser frequency is always stabilized at the resonant frequency of the counterclockwise beam, and the resonant frequency difference between the clockwise and counterclockwise beams is the rotation signal of the resonant optical gyroscope.
As shown in fig. 5, which is a real-time case of a resonant optical gyroscope based on pulse light detection, a tunable laser, a phase modulator and a 1 × 2 coupler are sequentially connected through an optical fiber, and the 1 × 2 coupler is respectively connected with a first pulse light modulator and a second pulse light modulator; the pulse signal generating module generates pulse signals with opposite phases and respectively inputs the pulse signals into the first pulse light modulator and the second pulse light modulator; the first pulse optical system is connected with the optical resonant cavity through a first circulator, the second pulse optical system is connected with the optical resonant cavity through a second circulator, the output of the first circulator enters the signal modulation and demodulation module after being subjected to photoelectric conversion by the first photoelectric detector, and the output of the second circulator enters the signal modulation and demodulation module after being subjected to photoelectric conversion by the second photoelectric detector; the modulation signal generated by the signal modulation and demodulation module is input to the phase modulator, the demodulation signal generated by the signal modulation and demodulation module is input to the feedback locking module, the feedback locking module is connected with the tunable laser, and the resonant optical gyroscope signal generated by the signal modulation and demodulation module is input to the data recorder; the method comprises the steps of compiling codes on a development platform based on an FPGA to realize a pulse signal generation module, a signal modulation and demodulation module and a feedback locking module, and using a digital multimeter or a personal computer as a data recorder.
Claims (2)
1. A detection method of a resonant optical gyro detection system based on pulse light detection is disclosed, wherein the resonant optical gyro detection system comprises an optical system consisting of a tunable laser, a phase modulator, a pulse light modulator, an optical resonant cavity and a photoelectric detector and a signal processing system consisting of a pulse signal generation module, a signal modulation and demodulation module and a feedback locking module; the tunable laser, the phase modulator and the pulse light modulator are sequentially connected through optical fibers; two paths of outputs of the pulse light modulator are connected with the optical resonant cavity, the output of the optical resonant cavity is connected with the photoelectric detector through an optical fiber, an output signal of the photoelectric detector is input into the modulation and demodulation module, a modulation signal generated by the signal modulation and demodulation module is input into the phase modulator, a demodulation signal generated by the signal modulation and demodulation module is input into the feedback locking module, and the feedback locking module is connected with the tunable laser; the resonant optical gyro signal generated by the signal modulation and demodulation module is input to a data recorder; the pulse signal generating module is connected with the pulse light modulator;
the detection method is characterized by comprising the following steps:
(1) phase modulation: laser emitted by the tunable laser is modulated by a phase modulator, wherein a driving signal of the phase modulator is a modulation signal U generated by a signal modulation and demodulation module1(t)；
(2) Conversion of continuous light into pulsed light: continuous light subjected to phase modulation is input into a pulse light modulator driven by a pulse signal generating module to generate two beams of pulse light which are switched with each other, so that mutual coupling between back scattering light and signal light is avoided, and back scattering noise is suppressed;
(3) and (3) demodulation of signals: the light beams which are formed after passing through the pulse light modulator and switched with each other are input into the optical resonant cavity to form two counter-clockwise and clockwise resonant light beams; the two beams of light respectively enter a photoelectric converter to be converted into electric signals; signal modulation and demodulation module generation and U1(t) demodulating the electrical signal by the same frequency reference signal;
(4) and (3) gyro signal output: the counter-clockwise path signal is transmitted to the feedback locking module as a demodulation signal after being demodulated, and the feedback locking module performs proportional and integral operation processing on the counter-clockwise path signal and then performs feedback control on the tunable laser; and the clockwise signal is demodulated to be used as a resonant optical gyro signal and is output to the data recorder.
2. A detection method of a resonant optical gyro detection system based on pulse light detection comprises the steps that the resonant optical gyro detection system comprises an optical system and a signal processing system, wherein the optical system consists of a tunable laser, a first phase modulator, a pulse light modulator, a second phase modulator, an attenuator, an optical resonant cavity and a photoelectric detector, and the signal processing system consists of a pulse signal generation module, a signal modulation and demodulation module, a feedback locking module and a servo frequency shift module; the tunable laser, the first phase modulator and the pulse light modulator are sequentially connected through optical fibers; one path of output of the pulse light modulator is input into the optical resonant cavity after passing through the second phase modulator, and the other path of output of the pulse light modulator is input into the optical resonant cavity after passing through the attenuator; the output of the optical resonant cavity is respectively input into a signal modulation and demodulation module after being subjected to photoelectric conversion by a photoelectric detector, the pulse signal generation module is connected with the pulse light modulator, a modulation signal generated by the signal modulation and demodulation module is input into the first phase modulator, a demodulation signal generated by the signal modulation and demodulation module demodulating a counterclockwise signal is input into the feedback locking module, and the feedback locking module is connected with the tunable laser; the signal modulation and demodulation module demodulates a demodulation signal generated by a clockwise signal and inputs the demodulation signal into the servo frequency shift module, and the servo frequency shift module is connected with the second phase modulator;
the detection method is characterized by comprising the following steps:
(1) phase modulation: laser emitted by the tunable laser is modulated by a phase modulator, wherein a driving signal of the phase modulator is a modulation signal U generated by a signal modulation and demodulation module1(t)；
(2) Conversion of continuous light into pulsed light: continuous light subjected to phase modulation is input into a pulse light modulator driven by a pulse signal generating module to generate two beams of pulse light which are switched with each other, so that mutual coupling between back scattering light and signal light is avoided, and back scattering noise is suppressed;
(3) and (3) demodulation of signals: the switched light beams formed by the pulse light modulator are respectively input into the optical resonant cavity after passing through the second phase modulator and the attenuator to form two counterclockwise and clockwise resonant light beams which respectively enter the photoelectric converter to be converted into electric signals, and the signal modulation and demodulation module generates and U1(t) demodulating the electrical signal by the same frequency reference signal;
(4) and (3) gyro signal output: the counter-clockwise path signal is transmitted to the feedback locking module as a demodulation signal after being demodulated, and the feedback locking module performs proportional and integral operation processing on the counter-clockwise path signal and then performs feedback control on the tunable laser; the clockwise path signal is transmitted to the servo frequency shift module after being demodulated, and the servo frequency shift module generates sawtooth waves to act on the second phase modulator, so that the clockwise path in the optical resonant cavity also works on a resonant frequency point; the frequency signal of the sawtooth wave is used as a frequency shift quantity and is used as a rotation output signal of the gyro.
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| CN112113556B (en) * | 2020-08-28 | 2022-06-24 | 哈尔滨工程大学 | High-sensitivity resonant micro-optical gyroscope based on self-injection frequency locking and detection method thereof |
| CN113465630B (en) * | 2021-07-02 | 2023-09-22 | 浙江大学 | Optical resonant cavity free spectral line width online test system and method based on coherent demodulation |
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| CN116026306B (en) * | 2023-03-30 | 2023-06-06 | 中国船舶集团有限公司第七〇七研究所 | Gyroscope based on low-coherence light source and angular velocity measurement method thereof |
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