CN110440782A - A kind of machine laser gyroscope shaking output demodulation method based on FPGA - Google Patents
A kind of machine laser gyroscope shaking output demodulation method based on FPGA Download PDFInfo
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- CN110440782A CN110440782A CN201910676898.7A CN201910676898A CN110440782A CN 110440782 A CN110440782 A CN 110440782A CN 201910676898 A CN201910676898 A CN 201910676898A CN 110440782 A CN110440782 A CN 110440782A
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- signal
- fpga
- gyroscope
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- machine laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/66—Ring laser gyrometers
- G01C19/661—Ring laser gyrometers details
- G01C19/662—Ring laser gyrometers details signal readout; dither compensators
- G01C19/664—Ring laser gyrometers details signal readout; dither compensators means for removing the dither signal
Abstract
A kind of machine laser gyroscope shaking based on FPGA disclosed by the invention exports demodulation method, comprising the following steps: output from Gyroscope sampling；The demodulation of output from Gyroscope in step 1 is carried out using quadruple phase discriminator；Demodulated signal obtained in step 2 is counted；The burr in signal, which is rejected, by low-pass filter obtains gyroscope counting pulse.A kind of machine laser gyroscope shaking based on FPGA of the present invention exports demodulation method, it is made of in FPGA forward-backward counter and digital filter two parts, quadruple phase demodulation counting technology and digital filtering technique are used simultaneously, effectively raise sampling precision and eliminate noise caused by the randomized jitter signal introduced in laser gyro and other factors.Sampling period and navigational computer sampling period are consistent, and when upper system can complete seamless interfacing, improve product systems applicability.
Description
Technical field
The invention belongs to the measuring device technical fields of machine laser gyroscope shaking output, and in particular to a kind of machine based on FPGA
Laser gyroscope shaking exports demodulation method.
Background technique
High-precision inertia is quick so far in the non-electromechanical that field of inertia technology obtains practical application for lasergyro
Feel instrument.Lasergyro using annular optical path Sagnac effect, i.e., in the annular optical path of any geometries, along it is suitable,
The size of the two-beam phase difference of counter clockwise direction relative motion and the annular optical path relative to inertial space slewing rate at
Linear relationship.Laser gyro used at present mainly uses mechanical shaking offset frequency scheme to solve the problems, such as latch up effect.
Due to the presence of mechanical shaking, it is necessary to high-frequency vibration caused by the shake in the initial data of laser gyro output
It compensates, it is integral multiple offset frequency by the sampling period that the method that shaking laser gyroscope demodulation generally uses, which is integer-period sampled,
Period is counted, the integrating system of frequency difference caused by the offset frequency that can disappear revolving speed.And existing phase discriminating technology is that laser gyro is defeated
After two beam signal SIN, COS input reversible counting unit out carries out reversible counting, send register to store, then sample.This side
Serious problems existing for method are that sampling precision is low, and system requirements is not achieved.
Summary of the invention
The purpose of the present invention is to provide a kind of, and the machine laser gyroscope shaking based on FPGA exports demodulation method, solves existing
The low problem of phase discriminating technology sampling precision.
The technical scheme adopted by the invention is that: a kind of machine laser gyroscope shaking output demodulation method based on FPGA, including
Following steps:
Step 1: output from Gyroscope sampling；
Step 2: the demodulation of output from Gyroscope in step 1 is carried out using quadruple phase discriminator；
Step 3: demodulated signal obtained in step 2 is counted；
Step 4: the burr in signal being rejected by low-pass filter and obtains gyroscope counting pulse.
The features of the present invention also characterized in that
Sample frequency in step 1 is 100MHz.
Step 2 specifically includes: being prolonged respectively to the beat signal A and B of gyroscope output using two-way two-stage d type flip flop
Late, a-signal, B signal obtain signal A1, B1 after two first order d type flip flops postpone respectively, and signal A1, B1 respectively enter two
Signal A2, B2 are obtained after a second level d type flip flop delay；Signal A1 and signal B2 enters XOR gate C2, signal A2 and letter later
Number B1 enters XOR gate C1, successively obtains after two NAND gate logics respectively again by the signal of two XOR gates C1, C2
CCW and CW signal.
Step 3 is specially to be counted to demodulated signal CW and CCW obtained in step 2 using counter, works as positive pulse
It is counted up when coming, carries out subtracting counting when negative pulse is come.
Low-pass filter in step 4 is second order sliding filter.
FPGA is the XC3S400AN type FPGA of Xilinx company.
The beneficial effects of the present invention are: a kind of machine laser gyroscope shaking based on FPGA of the present invention exports demodulation method, In
It is made of in FPGA forward-backward counter and digital filter two parts, while using quadruple phase demodulation counting technology and number filter
Wave technology effectively raises sampling precision and eliminates caused by the randomized jitter signal introduced in laser gyro and other factors
Noise.Sampling period and navigational computer sampling period are consistent, and when upper system can complete seamless interfacing, improve product
System suitability.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the machine laser gyroscope shaking output demodulation method based on FPGA of the present invention；
Fig. 2 is a kind of quadruple phase discriminator of the machine laser gyroscope shaking output demodulation method based on FPGA of the present invention；
Fig. 3 is a kind of each section of the machine laser gyroscope shaking output demodulation method quadruple phase discriminator based on FPGA of the present invention
Point waveform and logic relation picture；
Fig. 4 is configuration inside a kind of FPGA that the machine laser gyroscope shaking output demodulation method based on FPGA uses of the present invention
Figure.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is described in detail.
A kind of machine laser gyroscope shaking output demodulation method based on FPGA, as shown in Figure 1, comprising the following steps:
Step 1: output from Gyroscope sampling, the output signal of lasergyro are the mutually orthogonal square wave letter of two-way
Number, the frequency of signal is directly proportional to dynamic range, and maximum can reach 3.5MHz, in order to improve sampling precision, and takes into account in FPGA
Signal demodulation, samples output from Gyroscope using the sample frequency of 100MHz；
Step 2: the demodulation of output from Gyroscope in step 1 is carried out using quadruple phase discriminator, specifically: such as Fig. 2
Shown, A is sin_pul pulse signal, and B is cos_pul pulse signal, and clk is clock signal, frequency usually 10~
100MHz, CCW, CW are respectively counterclockwise, quadruple pulse signal clockwise, using two-way two-stage d type flip flop respectively to gyro
The beat signal A and B of instrument output are postponed, and a-signal, B signal obtain signal after two first order d type flip flops postpone respectively
A1, B1, signal A1, B1 obtain signal A2, B2 after respectively enteing two second level d type flip flop delays；Signal A1 and signal later
B2 enters XOR gate C2, signal A2 and signal B1 and enters XOR gate C1, passes through respectively again by the signal of two XOR gates C1, C2
CW and CCW signal is obtained after two NAND gate logics；
Each node waveform of circuit and logical relation are as shown in figure 3, wherein A and B is that the two-way of gyroscope output is mutually orthogonal
Square-wave signal, CCW and CW is respectively counterclockwise, quadruple pulse signal clockwise, the principle of circuit is triggered using two-stage D
Device postpones A and B two paths of signals, and the signal after delay is A1, A2 and B1, B2, then carries out logic to the signal after delay
Operation obtains final phase demodulation output CCW and CW.
Step 3: demodulated signal obtained in step 2 is counted, specifically: to demodulated signal obtained in step 2
CW and CCW are counted using counter, are counted up when positive pulse is come, and carry out subtracting counting when negative pulse is come；
Step 4: the burr in signal being rejected by second order sliding filter and obtains gyroscope counting pulse.
As shown in figure 4, FPGA is the XC3S400AN type FPGA of Xilinx company.
By the above-mentioned means, a kind of machine laser gyroscope shaking based on FPGA of the present invention exports demodulation method, in FPGA by
Forward-backward counter and digital filter two parts are constituted, while using quadruple phase demodulation counting technology and digital filtering technique,
It effectively raises sampling precision and eliminates noise caused by the randomized jitter signal introduced in laser gyro and other factors.Four
Each angular displacement for counting pulse pair and answering K/4 rads, obtains the counting pulse of the higher frequency multiplication of DRLG signal, then may be used when frequency multiplication phase demodulation
Further enhance resolution ratio.Process of frequency multiplication is carried out to two-way phase difference pi/2 beat signal, obtaining phase still is pi/2 but frequency
The beat signal doubled, every progress first overtone processing, so that it may which so that count resolution doubles, that is, precision mentions
High 2^n.Sampling period and navigational computer sampling period are consistent, and when upper system can complete seamless interfacing, improve
Product systems applicability.
Claims (6)
1. a kind of machine laser gyroscope shaking based on FPGA exports demodulation method, which comprises the following steps:
Step 1: output from Gyroscope sampling；
Step 2: the demodulation of output from Gyroscope in step 1 is carried out using quadruple phase discriminator；
Step 3: demodulated signal obtained in step 2 is counted；
Step 4: the burr in signal being rejected by low-pass filter and obtains gyroscope counting pulse.
2. a kind of machine laser gyroscope shaking based on FPGA as described in claim 1 exports demodulation method, which is characterized in that described
Sample frequency in step 1 is 100MHz.
3. a kind of machine laser gyroscope shaking based on FPGA as described in claim 1 exports demodulation method, which is characterized in that described
Step 2 specifically includes: being postponed respectively to the beat signal A and B of gyroscope output using two-way two-stage d type flip flop, A letter
Number, B signal obtain signal A1, B1 after two first order d type flip flops postpone respectively, signal A1, B1 respectively enter two second
Signal A2, B2 are obtained after grade d type flip flop delay；Later signal A1 and signal B2 enter XOR gate C2, signal A2 and signal B1 into
Enter XOR gate C1, successively obtains CCW and CW after two NAND gate logics respectively again by the signal of two XOR gates C1, C2
Signal.
4. a kind of machine laser gyroscope shaking based on FPGA as claimed in claim 3 exports demodulation method, which is characterized in that described
Step 3 is specially to be counted to demodulated signal CW and CCW obtained in step 2 using counter, when positive pulse carrys out Shi Jinhang
It counts up, carries out subtracting counting when negative pulse is come.
5. a kind of machine laser gyroscope shaking based on FPGA as described in claim 1 exports demodulation method, which is characterized in that described
Low-pass filter in step 4 is second order sliding filter.
6. a kind of machine laser gyroscope shaking based on FPGA as described in any one in claim 1-5 exports demodulation method, feature
It is, the FPGA is the XC3S400AN type FPGA of Xilinx company.
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Cited By (4)
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| CN111141268A (en) * | 2019-12-24 | 2020-05-12 | 中国船舶重工集团公司第七一七研究所 | Laser gyroscope integral digital frequency stabilization method and device |
| CN112362040A (en) * | 2020-10-31 | 2021-02-12 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Two-frequency mechanically-dithered laser gyroscope output angle sampling method and device |
| CN114577194A (en) * | 2021-12-21 | 2022-06-03 | 北京神导科技股份有限公司 | Novel two-frequency mechanically-dithered laser gyro signal demodulation system and method |
| CN114910099A (en) * | 2022-05-27 | 2022-08-16 | 四川图林科技有限责任公司 | Method for measuring time delay of mechanically dithered laser gyro control circuit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111141268A (en) * | 2019-12-24 | 2020-05-12 | 中国船舶重工集团公司第七一七研究所 | Laser gyroscope integral digital frequency stabilization method and device |
| CN112362040A (en) * | 2020-10-31 | 2021-02-12 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Two-frequency mechanically-dithered laser gyroscope output angle sampling method and device |
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| CN114577194A (en) * | 2021-12-21 | 2022-06-03 | 北京神导科技股份有限公司 | Novel two-frequency mechanically-dithered laser gyro signal demodulation system and method |
| CN114577194B (en) * | 2021-12-21 | 2022-12-16 | 北京神导科技股份有限公司 | Novel signal demodulation system and method for two-frequency mechanically dithered laser gyroscope |
| CN114910099A (en) * | 2022-05-27 | 2022-08-16 | 四川图林科技有限责任公司 | Method for measuring time delay of mechanically dithered laser gyro control circuit |
| CN114910099B (en) * | 2022-05-27 | 2024-01-23 | 四川图林科技有限责任公司 | Method for measuring delay of mechanically-jittered laser gyro control circuit |
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Application publication date: 20191112 |