CN110455271A - Fibre optic gyroscope - Google Patents
Fibre optic gyroscope Download PDFInfo
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- CN110455271A CN110455271A CN201910897573.1A CN201910897573A CN110455271A CN 110455271 A CN110455271 A CN 110455271A CN 201910897573 A CN201910897573 A CN 201910897573A CN 110455271 A CN110455271 A CN 110455271A
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- 239000000835 fiber Substances 0.000 title claims abstract description 193
- 230000003287 optical effect Effects 0.000 claims abstract description 133
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- 239000013307 optical fiber Substances 0.000 description 11
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
- G01C19/721—Details
Abstract
The application provides a kind of fibre optic gyroscope, including controller, and light emitting devices, fiber optic loop, light receiving element and data output interface, controller is for generating rf modulated signal and local oscillation signal；Light emitting devices and controller are electrically connected, for issuing optical signal according to the modulated signal generated based on rf modulated signal；Fiber optic loop with light emitting devices and light receiving element optical coupling, is used for optical signal transmission to light receiving element respectively；Light receiving element and controller are electrically connected for receiving local oscillation signal, will be converted to electric signal by received optical signal from fiber optic loop, electric signal and local oscillation signal Frequency mixing processing are formed mixed frequency signal, and mixed frequency signal is fed back to controller；Controller is also used to calculate optical path difference based on mixed frequency signal and obtains angular velocity of rotation；Data output interface is for exporting angular velocity of rotation.The fibre optic gyroscope of the application is not necessarily to Y waveguide integrated optical modulator, can reduce cost, be conducive to the popularization of fibre optic gyroscope.
Description
Technical field
This application involves gyroscope fields, in particular to a kind of fibre optic gyroscope.
Background technique
Fibre optic gyroscope is a kind of angular rate measurement instrument that developed based on Sagnac effect, fibre optic gyroscope tool
The technological merit for having simple structure, impact resistance, dynamic range big, while there is service life length, the using effect of high reliablity,
It is widely used in multiple fields such as aerospace, robot control, petroleum coal minings.
Currently, optical fibre gyro on the market, light path part is mainly made of 5 devices, i.e. light source, fiber coupler, Y
Wave-guide integrated optics modulator, fiber optic loop and photodetector.However, since Y waveguide integrated optical modulator is relatively high
It is expensive, cause the fibre optic gyroscope more expensive, civil nature popularization can not be carried out.
Summary of the invention
The embodiment of the present application is designed to provide a kind of fibre optic gyroscope, real to survey facies principle by using difference frequency
Angle of rotation is now measured, instead of relatively expensive Y waveguide integrated optical modulator, to be conducive to the civil nature of the fibre optic gyroscope
It promotes.
A kind of fibre optic gyroscope, including controller, light emitting devices, the first fiber optic loop, the second fiber optic loop, the first light-receiving
Device and the second light receiving element；The controller is for generating rf modulated signal and local oscillation signal；The light emitting devices
It is electrically connected with the controller, for issuing optical signal according to the modulated signal generated based on the rf modulated signal；Institute
It states the first fiber optic loop to be arranged between the light emitting devices and first light receiving element, be used for the light emitting devices
The optical signal transmission of sending is to first light receiving element；Second fiber optic loop setting the light emitting devices with it is described
Between second light receiving element, optical signal transmission for issuing the light emitting devices to second light receiving element；
First light receiving element and the controller are electrically connected, will be from first optical fiber for receiving the local oscillation signal
The received optical signal of ring is converted to the first electric signal, and first electric signal and the local oscillation signal Frequency mixing processing are formed first
Mixed frequency signal, and first mixed frequency signal is fed back into the controller；Second light receiving element and the controller
It is electrically connected, for receiving the local oscillation signal, the second electric signal will be converted to from the received optical signal of the second fiber optic loop,
Second electric signal and the local oscillation signal Frequency mixing processing are formed into the second mixed frequency signal, and second mixed frequency signal is anti-
It feeds the controller；The controller is also used to calculate optical path difference simultaneously based on first mixed frequency signal and the second mixed frequency signal
Obtain angular velocity of rotation.
Fibre optic gyroscope provided by the present application exports rf modulated signal and local oscillation signal, light emitting devices by controller
Optical signal, the light that the first fiber optic loop is issued light emitting devices are issued according to the modulated signal generated based on rf modulated signal
Signal is transmitted to the first light receiving element, and the first light receiving element will be converted to the first electricity from the received optical signal of the first fiber optic loop
Signal, and the first electric signal and local oscillation signal are subjected to Frequency mixing processing and form the first mixed frequency signal, and the first mixed frequency signal is anti-
It feeds controller, the optical signal transmission that the second fiber optic loop is issued light emitting devices to the second light receiving element, the second light connects
The second electric signal will be converted to from the received optical signal of the second fiber optic loop by receiving device, and the second electric signal and local oscillation signal are carried out
Frequency mixing processing forms the second mixed frequency signal, and the second mixed frequency signal is fed back to controller, and controller passes through the first mixed frequency signal
And second mixed frequency signal optical path difference is calculated, and then obtain angular velocity of rotation, utilize optical fibre gyro provided by the present embodiment
Therefore instrument, can reduce the cost of fibre optic gyroscope, be conducive to this without using expensive Y waveguide integrated optical modulator
The civil nature of fibre optic gyroscope is promoted.
Optionally, the controller includes control element and phaselocked loop, the control element and first optical receiver
Part and second light receiving element are electrically connected, for receiving first mixed frequency signal and second mixed frequency signal, institute
It states control element to be electrically connected with the phaselocked loop respectively, generates the rf modulated signal and institute for controlling the phaselocked loop
State local oscillation signal.
Optionally, the fibre optic gyroscope further includes modulation control circuit, and the modulation control circuit is connected to the control
Between device processed and the light emitting devices, the modulation control circuit is based on the radio frequency adjustment signal and generates the modulated signal
And the light emitting devices is controlled by the modulated signal and is shone.
Optionally, the fibre optic gyroscope further includes local oscillator processing circuit, and the local oscillator processing circuit is connected to the control
Between device processed and first light receiving element and the controller and second light receiving element, the local oscillator processing circuit
For handling the local oscillation signal.
Optionally, first light receiving element include the first photo-electric conversion element and with first photo-electric conversion element
First Mixing elements of connection, first photo-electric conversion element and the first fiber optic loop optical coupling, for will be through described the
The optical signal of one fiber optic loop transmission is converted to first electric signal, and gives described first for first electric signal transmission
Mixing elements, first Mixing elements are also used to receive the local oscillation signal, and the local oscillation signal is electric with described first
First mixed frequency signal is generated after signal mixing.
Optionally, second light receiving element include the second photo-electric conversion element and with second photo-electric conversion element
Second Mixing elements of connection, second photo-electric conversion element and the second fiber optic loop optical coupling, for will be through described the
The optical signal of two fiber optic loops transmission is converted to second electric signal, and gives described second for second electric signal transmission
Mixing elements, second Mixing elements are also used to receive the local oscillation signal, and the local oscillation signal is electric with described second
Second mixed frequency signal is generated after signal mixing.
Optionally, the fibre optic gyroscope further includes the first filter amplification circuit and the second filter amplification circuit, and described
One filter amplification circuit is connected between first light receiving element and the controller, for first mixed frequency signal
Handled, second filter amplification circuit is connected between second light receiving element and the controller, for pair
Second mixed frequency signal is handled.
Optionally, the fibre optic gyroscope further includes being connected between the controller and first light receiving element
First biasing circuit and the second biasing circuit being connected between the controller and second light receiving element, described first
Biasing circuit is used to adjust the bias voltage of first light receiving element, and second biasing circuit is for adjusting described second
The bias voltage of light receiving element.
Optionally, the fibre optic gyroscope further includes the first temperature sensor connecting with the controller and second temperature
Sensor, first temperature sensor are arranged close to first light receiving element, for acquiring first optical receiver
The temperature of part, the second temperature sensor are arranged close to second light receiving element, for acquiring second light-receiving
The temperature of device, the controller are based on first temperature sensor temperature collected and control first biasing circuit pair
The bias voltage of first light receiving element is adjusted, and based on second temperature sensor temperature control collected
The bias voltage of second light receiving element is adjusted in second biasing circuit.
Optionally, the fibre optic gyroscope further includes the data output interface being electrically connected with the controller, for defeated
The angular velocity of rotation out.
Optionally, the fibre optic gyroscope further includes beam splitter, and the beam splitter is arranged in the light emitting devices
Between the fiber optic loop, the optical signal for being emitted the light emitting devices is divided into two ways of optical signals, the two-way light
Signal is transmitted to first light receiving element through first fiber optic loop respectively and is transmitted to through second fiber optic loop described
Second light receiving element.
Optionally, the light emitting devices includes the first light emitting devices and the second light emitting devices, the first light hair
Emitter part is used to issue the first optical signal, first light according to the first modulated signal generated based on the rf modulated signal
Signal is transmitted to first light receiving element through first fiber optic loop, and second light emitting devices is used for according to based on institute
The second modulated signal for stating rf modulated signal generation issues the second optical signal, and second optical signal is through second fiber optic loop
It is transmitted to second light receiving element.
The one or more embodiments of the detail of the application propose in following attached drawing and description.Other spies of the application
Sign, objects and advantages will become obvious from specification, attached drawing and claims.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application will make below to required in the embodiment of the present application
Attached drawing is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore should not be seen
Work is the restriction to range, for those of ordinary skill in the art, without creative efforts, can be with
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram for the fibre optic gyroscope that one embodiment of the application provides.
Fig. 2 is the structural schematic diagram for the modulation control circuit that one embodiment of the application provides.
Fig. 3 is the structural schematic diagram for the local oscillator processing circuit that one embodiment of the application provides.
Fig. 4 is the structural schematic diagram for the local oscillator processing circuit that another embodiment of the application provides.
Fig. 5 is the structural schematic diagram for the filter amplification circuit that one embodiment of the application provides.
Fig. 6 is the structural schematic diagram for the biasing circuit that one embodiment of the application provides.
Fig. 7 is the structural schematic diagram for the fibre optic gyroscope that another embodiment of the application provides.
Appended drawing reference: fibre optic gyroscope 100,200；Controller 11,21；Light emitting devices 13,23；Beam splitter 151；The
One fiber optic loop 152,251；Second fiber optic loop 153,252；First light receiving element 171,271；Second light receiving element 172,
272；Data output interface 19,29；Control element 111,211；Phase-locked loop circuit 112,212；First photo-electric conversion element 1711,
2711；First Mixing elements 1712,2712；Modulation control circuit 12；Local oscillator processing circuit 14,24；Second photo-electric conversion element
1721,2721；Second Mixing elements 1722,2722；First filter amplification circuit 181,281；Second filter amplification circuit 182,
282；First biasing circuit 161,261；Second biasing circuit 163,263；First temperature sensor 162,262；Second temperature passes
Sensor 164,264；First light emitting devices 231, the second light emitting devices 233；First modulation control circuit 221；Second modulation
Control circuit 222.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, and
It is not used in restriction the application.
Referring to Fig. 1, one embodiment of the application provide fibre optic gyroscope 100 include controller 11, light emitting devices 13,
Beam splitter 151, the first fiber optic loop 152, the second fiber optic loop 153, the first light receiving element 171, the second light receiving element 172,
And data output interface 19.
Controller 11 exports two-way clock signal.Two-way clock signal is respectively rf modulated signal and local oscillation signal.This
In embodiment, rf modulated signal and local oscillation signal are high-frequency signal, between the two Phase synchronization and have difference on the frequency.
Controller 11 and light emitting devices 13 are electrically connected, and are shone for controlling light emitting devices 13；Respectively with the first light
Receiving device 171 and the second light receiving element 172 are electrically connected, for local oscillation signal to be sent to the first light receiving element 171
And second light receiving element 172, and receive the first of light the first light receiving element 171 and the second light receiving element 172 feedback
Mixed frequency signal and the second mixed frequency signal, and the rotation based on the first mixed frequency signal and the second mixed frequency signal calculating fibre optic gyroscope 100
Tarnsition velocity；And be electrically connected with data output interface 19, for calculating resulting rotation by the output of data output interface 19
Tarnsition velocity.
In the present embodiment, controller 11 includes control element 111 and the phase-locked loop circuit with the electric connection of control element 111
112。
Control element 111 and the first light receiving element 171 and the second light receiving element 172 are electrically connected, for receiving the
The first mixed frequency signal and the second mixed frequency signal of one light receiving element 171 and the second light receiving element 172 feedback, and it is based on first
Mixed frequency signal and the second mixed frequency signal calculate the angular velocity of rotation of fibre optic gyroscope 100；It connect, is used for data output interface 19
Resulting angular velocity of rotation is calculated by the data output interface 19 output.Control element 111 can be field programmable gate array
(FeildProgrammable Gate Array, FPGA), digital signal processor (Digital Signal Processor,
DSP), Complex Programmable Logic Devices (Complex Programmable Logic Device, CPLD), micro-control unit
(Microcontroller Unit, MCU) etc..
Phase-locked loop circuit 112 generates above-mentioned two-way clock signal.Phase-locked loop circuit 112 electrically connects with light emitting devices 13
It connects, for exporting rf modulated signal, is shone with controlling light emitting devices 13；It is connect with the first light receiving element 171 and the second light
It receives device 172 to be electrically connected, for local oscillation signal to be sent to the first light receiving element 171 and the second light receiving element 172.Lock
Phase loop circuit 112 can be phase-locked loop (Phase Locked Loop, PLL), Direct Digital Synthesizer (Direct
Digital Synthesizer, DDS), CPLD or FPGA etc..It is understood that the application to the specific knot of phase-locked loop circuit 112
Structure without limitation, as long as it can generate above-mentioned two-way clock signal.
It is appreciated that control element 111 can be realized phase locked looped function, at this point, phase-locked loop circuit in other embodiments
112 can omit, at this point, control element 111 can be FPGA, CPLD, the MCU with phase locked looped function.The application is to lock
The concrete type and structure of the MCU of phase ring function is not construed as limiting, as long as the MCU can be realized phase locked looped function.
It is appreciated that fibre optic gyroscope 100 further includes modulation control circuit 12 in the present embodiment.Modulation control circuit 12
It is connected between controller 11 and light emitting devices 13, for generating modulated signal based on rf modulated signal, to control the light
Ballistic device 13 shines.In the present embodiment, modulation control circuit 12 be connected to phase-locked loop circuit 112 and light emitting devices 13 it
Between, and be electrically connected with control element 111.Modulation control circuit 12 is controlled by the control element 111, is based on phase-locked loop circuit
112 rf modulated signals sent generate modulated signal, and then control light emitting devices 13 by modulated signal and shine.It please refers to
Fig. 2, modulation control circuit 12 drive light emitting devices 13 (being laser diode in figure) by triode.Specifically, this implementation
In example, modulation control circuit 12 is realized by the opening and closing of control triode to the on-off of the power supply circuit of light emitting devices 13
Control, and then control light emitting devices 13 and shine.The base stage of triode connects to power supply.In the present embodiment, the base stage of triode
By the parallel-connection structure parallel-connection structure of capacitor C49 and resistance R71 (such as in Fig. 2) and with the concatenated resistance (example of parallel-connection structure
Such as resistance R77 in Fig. 2) it connects to power supply.Rf modulated signal input terminal, which is connected on the parallel-connection structure, (such as is connected to Fig. 2
Shown in parallel-connection structure capacitor C49 and resistance R71 between).The rf modulated signal input terminal is penetrated with phase-locked loop circuit 112
The connection of frequency modulation output end.The collector of triode and light emitting devices (such as the concatenated laser diode in Fig. 2
LD2 it) connects.Optionally, the collector of triode is connected by the cathode of resistance R80 and light emitting devices.In the present embodiment, three
The collector of pole pipe also pass through a parallel-connection structure (such as parallel-connection structure of capacitor shown in Fig. 2 81 and resistance R72) and with this simultaneously
It is coupled the concatenated resistance of structure (such as resistance R70 shown in Fig. 2) to connect to power supply.The emitter of triode is grounded.Light emitting devices
13 anode connects to power supply.Optionally, light emitting devices 13 is connected by a resistance (such as convex shown in resistance R19) and power supply
It connects.The access point of power supply and light emitting devices 13 is for example between concatenated laser diode shown in Fig. 2.The present embodiment
In, light emitting devices 13 is also grounded by a resistance (such as resistance R81 shown in Fig. 2).Modulation control circuit 12 includes drop-down
Signal input part PD.As shown in Fig. 2, pulldown signal input terminal is between light emitting devices 13 and resistance R81.
It is appreciated that only illustrating the structure of modulation control circuit 12 in the present embodiment.In other embodiments, modulation control
Circuit 12 processed can also have other structures, as long as modulation control circuit 12 can generate modulation letter based on rf modulated signal
Number, it is shone with controlling the light emitting devices 13.
Light emitting devices 13 and controller 11 are electrically connected, for issuing optical signal based on modulated signal.Light emitting devices
13 can be laser diode (Laser Diode, LD), light emitting diode (Light Emitting Diode, LED) etc..
Beam splitter 151 is arranged between light emitting devices 13 and the first fiber optic loop 152 and the second fiber optic loop 153, is used for
The optical signal that light emitting devices 13 emits is divided into two ways of optical signals.Enter the first fiber optic loop 152 all the way in two ways of optical signals,
It is transmitted to the first light receiving element 171 through the first fiber optic loop 152, the another way in two ways of optical signals enters the second fiber optic loop 153
The second light receiving element 172 is transmitted to through the second fiber optic loop 153.In the present embodiment, beam splitter 151 is semi-transparent semi-reflecting lens.
It is appreciated that other embodiments in, be provided between beam splitter 151 and the first fiber optic loop 152 condenser lens or
Optical element with circular cone reflecting surface, for beam splitter 151 to be formed by being coupled into two ways of optical signals all the way
First fiber optic loop 152.Similarly, it may also set up condenser lens between beam splitter 151 and the second fiber optic loop 153 or there is circular cone
The optical element of reflecting surface.First fiber optic loop 152 is arranged between beam splitter 151 and the first light receiving element 171, and first
The both ends of fiber optic loop 152 respectively with 272 optical coupling of beam splitter 151 and the first light receiving element.Beam splitter 151 is by light emitting
After the optical signal that device 13 is emitted is divided into two ways of optical signals, wherein optical signal through the first fiber optic loop 152 is transmitted to first all the way
Light receiving element 171.
Second fiber optic loop 153 is arranged between beam splitter 151 and the second light receiving element 172, and the second fiber optic loop 153
Both ends respectively with 172 optical coupling of beam splitter 151 and the second light receiving element.Beam splitter 151 is by 13 institute of light emitting devices
After the optical signal of transmitting is divided into two ways of optical signals, another way optical signal is transmitted to the second light receiving element through the second fiber optic loop 153
172。
It is appreciated that between the first fiber optic loop 152 and the first light receiving element 171 and the second fiber optic loop 153 and the second light
Also condenser lens or the optical element with circular cone reflecting surface can be set between receiving device 172.
In 153 the two of first fiber optic loop 152 and the second fiber optic loop, the optical fiber of one of them is wound along clockwise direction, separately
The optical fiber of one is wound in the counterclockwise direction.First fiber optic loop 152 and the radius having the same of the second fiber optic loop 153 and winding circle
Number.In the present embodiment, the first fiber optic loop 152 and the second fiber optic loop 153 are wrapped on same winding carrier or around same axle center
Winding.
First light receiving element 171 is used to the optical signal transmitted through the first fiber optic loop 152 being converted to the first electric signal, and
First electric signal and local oscillation signal are subjected to Frequency mixing processing, form the first mixed frequency signal, and the first mixed frequency signal is fed back to
Controller 11.
In the present embodiment, the first light receiving element 171 include the first photo-electric conversion element 1711 and with the first photoelectric conversion
The first Mixing elements 1712 that element 1711 is electrically connected.
152 optical coupling of first photo-electric conversion element 1711 and the first fiber optic loop is transmitted for receiving through the first fiber optic loop 152
Optical signal, and convert optical signals to the first electric signal, and give the first electric signal transmission to the first Mixing elements 1712.The
One photo-electric conversion element 1711 can be avalanche mode photodiodes (Avalanche Photo Diode, APD), two pole of photoelectricity
It manages (Photo Diode), the photoelectricity such as Positive Intrinsic Negative (PIN) photodiode or photomultiplier tube
Switching device.
First Mixing elements 1712 are also electrically connected with controller 11, the local oscillator letter exported for receiving controller 11
Number.In the present embodiment, the first Mixing elements 1712 are electrically connected with phase-locked loop circuit 112, are given birth to receiving phase-locked loop circuit 112
At local oscillation signal.First Mixing elements 1712 by local oscillation signal with from the first photo-electric conversion element 1711 it is received first electricity
Signal carries out Frequency mixing processing, forms the first mixed frequency signal, and the first mixed frequency signal is fed back to controller 11.In the present embodiment,
First Mixing elements 1712 are electrically connected with control element 111.First mixed frequency signal is fed back to control by the first Mixing elements 1712
Element 111 processed.
It is appreciated that being not construed as limiting for the specific structure of the first Mixing elements 1712, in the present embodiment as long as it can
It realizes and local oscillation signal is subjected to Frequency mixing processing with from the received electric signal of the first photo-electric conversion element 1711, generate the first mixing letter
Number and feed back to controller 11.
It is appreciated that the first Mixing elements 1712 can omit in other embodiments, and pass through the first photo-electric conversion element
First electric signal and local oscillation signal are carried out Frequency mixing processing by 1711.
Second light receiving element 172 is used to the optical signal transmitted through the second fiber optic loop 153 being converted to the second electric signal, and
Second electric signal and local oscillation signal are subjected to Frequency mixing processing, form the second mixed frequency signal, and the second mixed frequency signal is fed back to
Controller 11.
In the present embodiment, the second light receiving element 172 include the second photo-electric conversion element 1721 and with the second photoelectric conversion
The second Mixing elements 1722 that element 1721 is electrically connected.
153 optical coupling of second photo-electric conversion element 1721 and the second fiber optic loop is transmitted for receiving through the second fiber optic loop 153
Optical signal, and convert optical signals to the second electric signal, and give the second electric signal transmission to the second Mixing elements 1722.The
Two photo-electric conversion elements 1721 can be avalanche mode photodiodes (Avalanche Photo Diode, APD), two pole of photoelectricity
It manages (Photo Diode), the photoelectricity such as Positive Intrinsic Negative (PIN) photodiode or photomultiplier tube
Switching device.
Second Mixing elements 1722 are also electrically connected with controller 11, the local oscillator letter exported for receiving controller 11
Number.In the present embodiment, the second Mixing elements 1722 are electrically connected with phase-locked loop circuit 112, are given birth to receiving phase-locked loop circuit 112
At local oscillation signal.Second Mixing elements 1722 by local oscillation signal with from received electric signal from the second photo-electric conversion element 1721
Frequency mixing processing is carried out, forms the second mixed frequency signal, and the second mixed frequency signal is fed back into controller 11.In the present embodiment, second
Mixing elements 1722 and control element 111 are electrically connected, and the second mixed frequency signal is fed back to control member by the second Mixing elements 1722
Part 111.
It is appreciated that being not construed as limiting for the specific structure of the second Mixing elements 1722, in the present embodiment as long as it can
It realizes and local oscillation signal is subjected to Frequency mixing processing with from the received electric signal of the second photo-electric conversion element 1721, generate the second mixing letter
Number and feed back to controller 11.
It is appreciated that the second Mixing elements 1722 can omit in other embodiments, and pass through the second photo-electric conversion element
Second electric signal and local oscillation signal are carried out Frequency mixing processing by 1721.
It is appreciated that fibre optic gyroscope 100 further includes local oscillator processing circuit 14 in the present embodiment.Local oscillator processing circuit 14
It is connected between controller 11 and the first light receiving element 171 and the second light receiving element 172, for being filtered to local oscillation signal
Wave, the processing such as amplification.Further, local oscillator processing circuit 14 be connected to phase-locked loop circuit 112 and the first light receiving element 171 and
Between second light receiving element 172.In the present embodiment, local oscillator processing circuit 14 is connected to phase-locked loop circuit 112 and is mixed with first
Between element 1712 and the second Mixing elements 1722, it is sent to after the local oscillation signal processing for being exported to phase-locked loop circuit 112
First Mixing elements 1712 and the second Mixing elements 1722.Referring to Fig. 3, local oscillator processing circuit 14 includes MOS in the present embodiment
Pipe.The grid 1 of metal-oxide-semiconductor is connect with the local oscillation signal output end of phase-locked loop circuit 112.Optionally, the grid 1 of metal-oxide-semiconductor is through together
It is coupled the structure parallel-connection structure of capacitor and resistance (for example, in Fig. 3) to connect with the local oscillation signal output end of phase-locked loop circuit 112.MOS
The drain electrode 2 of pipe is grounded.Optionally, the drain electrode 2 of metal-oxide-semiconductor is through a parallel-connection structure parallel-connection structure of capacitor and resistance (for example, in Fig. 3)
Ground connection.The source electrode 3 of metal-oxide-semiconductor is connected with power supply VCC, the first light receiving element 171 and the second light receiving element 172 respectively.It is optional
Ground, the source electrode 3 of metal-oxide-semiconductor by the parallel-connection structure parallel-connection structure of inductance and resistance (for example, in Fig. 3) with power supply VCC by being connected
It connects, and is connect by one with the concatenated capacitor of the parallel-connection structure with the first light receiving element 171 and the second light receiving element 172.
It is appreciated that local oscillator processing circuit shown in Fig. 3 is merely illustrative, it is not limited thereto.
Referring to Fig. 4, local oscillator processing circuit 14 includes metal-oxide-semiconductor in another embodiment.Grid 1 and the phaselocked loop electricity of metal-oxide-semiconductor
The local oscillation signal output end on road 112 connects.Optionally, the grid 1 of metal-oxide-semiconductor is through a parallel-connection structure (for example, resistance and electricity in Fig. 4
The parallel-connection structure of appearance) it is connect with the local oscillation signal output end of phase-locked loop circuit 112.The drain electrode 2 of metal-oxide-semiconductor is connect with power supply VCC.
The source electrode 3 of metal-oxide-semiconductor is and in parallel with this by one through the parallel-connection structure parallel-connection structure of inductance and resistance (such as in Fig. 4) ground connection
The capacitor of structures in series is connect with the first light receiving element 171 and the second light receiving element 172.It is appreciated that local oscillator shown in Fig. 4
Processing circuit 14 is merely illustrative, is not limited thereto.
It is appreciated that fibre optic gyroscope 100 further includes the first filter amplification circuit 181 and the second filtering in the present embodiment
Amplifying circuit 182.First filter amplification circuit 181 is connected between the first light receiving element 171 and controller 11, for the
First mixed frequency signal of one light receiving element 171 output amplifies, the processing such as filtering.The connection of second filter amplification circuit 182
Between the second light receiving element 172 and controller 11, the second mixed frequency signal for being exported to the second light receiving element 172 into
Row amplification, the processing such as filtering.In the present embodiment, the first filter amplification circuit 181 and the second filter amplification circuit 182 are respectively used to
In the first mixed frequency signal and the second mixed frequency signal and frequency signal is eliminated, to obtain the first difference frequency signal and the second difference frequency signal,
And by the first difference frequency signal and the second difference frequency signal amplify processing after feed back to controller 11.In the present embodiment, the first filter
Wave amplifying circuit 181 is connected between the first Mixing elements 1712 and control element 111, the connection of the second filter amplification circuit 182
Between the second Mixing elements 2712 and control element 111.In the present embodiment, the first filter amplification circuit 181 and the second filtering
Amplifying circuit 182 is low-pass filter amplifier, for filtering out in mixed frequency signal and frequency signal, retains difference frequency signal.First
Filter amplification circuit 181 and the structure having the same of the second filter amplification circuit 182, in the present embodiment, with the first filter and amplification
The structure of filter amplification circuit is illustrated for circuit 181.Referring to Fig. 5, the first filter amplification circuit 181 includes filtering
Amplifier.The non-inverting input terminal 3 of filter amplifier connects to power supply.Optionally, the non-inverting input terminal of filter amplifier successively passes through
Cross the parallel-connection structure parallel-connection structure of resistance R36 and capacitor C26 (such as in Fig. 5) and with the concatenated resistance (example of the parallel-connection structure
Such as the resistance R34 in Fig. 5) it connects to power supply.The inverting input terminal 2 of filter amplifier and the input terminal of the first mixed frequency signal connect
It connects.(in the present embodiment, the first mixing is first for the signal output end of the input terminal of first mixed frequency signal and the first light receiving element 171
The signal output end of part 1712) connection optionally, the inverting input terminal 2 of filter amplifier passes sequentially through a resistance (such as in Fig. 5
Resistance R32) and a capacitor (such as capacitor C23 in Fig. 5) connect with the input terminal of the first mixed frequency signal.The letter of filter amplifier
Number output end 1 is connect with the signal output end of the first filter amplification circuit.Optionally, the signal output end 1 of filter amplifier is logical
A capacitor (such as capacitor C24 in Fig. 5) is crossed to connect with the signal output end of the first filter amplification circuit.First filter and amplification electricity
The signal output end and controller 11 (in the present embodiment, control element 111) on road connect.Optionally, the reverse phase of filter amplifier
Input terminal 2 is connect with the signal output end 1 of filter amplifier.Optionally, the inverting input terminal 2 of filter amplifier is in parallel by one
The structure parallel-connection structure of capacitor C27 and resistance R30 (such as in Fig. 5) is connect with the signal output end 1 of filter amplifier.
Second filter amplification circuit 182 and controller 11 (in the present embodiment, control element 111) and the second light receiving element
The connection relationship of 172 (in the present embodiment, the second Mixing elements 1722) and the first filter amplification circuit 181 and (this of controller 11
In embodiment, control element 111) and the connection of the first light receiving element 171 (in the present embodiment, the first Mixing elements 1712) close
Be it is similar, details are not described herein.
It is appreciated that fibre optic gyroscope 100 further includes the first biasing circuit 161 and the second biasing circuit in the present embodiment
163.First biasing circuit 161 is connected between controller 11 and the first light receiving element 171, for adjusting the first optical receiver
The bias voltage of part 171.In the present embodiment, the first biasing circuit 161 is connected to control element 111 and the first photo-electric conversion element
Between 1711.Second biasing circuit 163 is connected between controller 11 and the second light receiving element 172, for adjusting the second light
The bias voltage of receiving device 172.In the present embodiment, the second biasing circuit 163 is connected to control element 111 and the second photoelectricity turns
It changes between element 1721.First biasing circuit 161 and the structure having the same of the second biasing circuit 163, in the present embodiment, with
The structure of biasing circuit is introduced for one biasing circuit 161.Referring to Fig. 6, the first biasing circuit 161 has and control
The connection of element 111 and the signal input part for receiving control signal connect with control element 111 and are used for control element
111 provide the signal output end of sampled signal, and the bias voltage output connecting with the first light receiving element 171.Signal
Input terminal is connect with the base stage of a triode.The grounded collector of triode.The emitter of triode respectively through an inductance L1 with
Power supply VCC connection, and successively through a diode, resistance R1, resistance R2 are connect with bias voltage output end.Diode and resistance
A capacitor C1 is connected between R1, capacitor C1 is in parallel with resistance R1 and is grounded.A ground connection is connected between resistance R1 and resistance R2
Parallel-connection structure.Parallel-connection structure includes capacitor C2 and the cascaded structure in parallel with capacitor C2.Cascaded structure includes concatenated resistance
R3 and resistance R4.The signal output end of sampled signal is connected between resistance R3 and R4.Control element 111 samples the first light-receiving
The bias voltage of device 171, and according to the bias voltage sampled, the signal input part through the first biasing circuit 161 inputs control
Signal processed, to adjust the bias voltage of the first light receiving element 171.In the present embodiment, control element 111 is inclined according to what is sampled
It sets voltage and inputs pulse-width signal through the signal input part of the first biasing circuit 161, by adjusting accounting for for pulse-width signal
Bias voltage of the sky than adjusting the first light receiving element 171.
The connection relationship and the first biased electrical of second biasing circuit 163 and control element 111 and the second light receiving element 172
Road 161 is similar with the connection relationship of control element 111 and the first light receiving element 171, and details are not described herein.
It is appreciated that fibre optic gyroscope 100 can also include the first temperature sensor 162 and second in other embodiments
Temperature sensor 164.First temperature sensor 162 is electrically connected with controller 11, and is set close to the first light receiving element 171
It sets, for acquiring the temperature of the first light receiving element 171.Controller 11 is based on the temperature collected of the first temperature sensor 162
The first biasing circuit 161 is controlled the bias voltage of the first light receiving element 171 is adjusted.In the present embodiment, the first temperature
Sensor 162 and control element 111 are electrically connected.Control element 111 is based on the temperature control collected of the first temperature sensor 162
The first biasing circuit 161 is made the bias voltage of the first photo-electric conversion element 1711 is adjusted.
Second temperature sensor 164 and controller 11 are electrically connected, and are arranged close to the second light receiving element 172, are used for
Acquire the temperature of the second light receiving element 172.Controller 11 is based on the temperature collected of second temperature sensor 164 control second
The bias voltage of the second light receiving element 172 is adjusted in biasing circuit 163.In the present embodiment, second temperature sensor 164
It is electrically connected with control element 111.Control element 111 is based on the temperature collected of second temperature sensor 164 control second partially
The bias voltage of the second photo-electric conversion element 1721 is adjusted in circuits 163.
Data output interface 19 and controller 11 are electrically connected, and calculate resulting rotation angle speed for o controller 11
Degree.Data output interface 19 can be serial line interface, serial external interface (Serial Peripheral Interface, SPI)
Or the communication interfaces such as controller local area network (Controller Area Network, CAN) interface.
Fibre optic gyroscope provided in this embodiment exports rf modulated signal and local oscillation signal, optical transmitting set by controller
Part issues optical signal according to the modulated signal that generates based on rf modulated signal, the first fiber optic loop respectively with beam splitter and first
Light receiving element optical coupling, the first light receiving element will be converted to electric signal from the received optical signal of the first fiber optic loop, and will be electric
Signal and local oscillation signal carry out Frequency mixing processing and form the first mixed frequency signal, and the first mixed frequency signal is fed back to controller, and second
For fiber optic loop respectively with beam splitter and the second light receiving element optical coupling, the second light receiving element will be received from the second fiber optic loop
Optical signal is converted to electric signal, and electric signal and local oscillation signal are carried out Frequency mixing processing and form the second mixed frequency signal, and by second
Mixed frequency signal feeds back to controller, and optical path difference is calculated by the first mixed frequency signal and the second mixed frequency signal in controller, in turn
Angular velocity of rotation is obtained, using fibre optic gyroscope provided by the present embodiment, without using expensive Y waveguide integrated optics
Therefore modulator can reduce the cost of fibre optic gyroscope, the civil nature for being conducive to the fibre optic gyroscope is promoted.
Further, in this embodiment respectively issued light emitting devices by the first fiber optic loop and the second fiber optic loop
Optical signal is transmitted separately to the first light receiving element and the second light receiving element, is then connect by the first light receiving element and the second light
It receives device and converts optical signals to electric signal respectively, and form the first mixed frequency signal and the after electric signal is mixed with local oscillation signal
Two mixed frequency signals, controller calculate light optical path difference according to the first mixed frequency signal and the second mixed frequency signal, and then obtain rotation angle speed
Degree, includes a fiber optic loop and a light receiving element compared with fibre optic gyroscope, and controller samples mixing letter according to time order and function
Number the case where for, in the present embodiment, the first mixed frequency signal and the second mixed frequency signal can be obtained simultaneously, therefore can be more smart
Optical path difference really is calculated, and then obtains more accurate angular velocity of rotation.
Referring to Fig. 7, the fibre optic gyroscope 200 that another embodiment of the application provides includes controller 21, the first light emitting
Device 231, the second light emitting devices 233, the first fiber optic loop 251, the second fiber optic loop 253, the first light receiving element 271, second
Light receiving element 272 and data output interface 29.
Controller 21 exports two-way clock signal.Two-way clock signal is respectively rf modulated signal and local oscillation signal.This
In embodiment, rf modulated signal and local oscillation signal are high-frequency signal, between the two Phase synchronization and have difference on the frequency.
Controller 21 and the first light emitting devices 231 and the second light emitting devices 233 are electrically connected, for controlling the first light
Ballistic device 231 and the second light emitting devices 233 shine；Respectively with the first light receiving element 271 and the second light receiving element 272
It is electrically connected, for local oscillation signal to be sent to the first light receiving element 271 and the second light receiving element 272, and reception light
The first mixed frequency signal and the second mixed frequency signal of first light receiving element 271 and the second light receiving element 272 feedback, and based on the
One mixed frequency signal and the second mixed frequency signal calculate the angular velocity of rotation of fibre optic gyroscope 200；And it is electric with data output interface 29
Property connection, for calculating resulting angular velocity of rotation by the output of data output interface 29.
In the present embodiment, controller 21 includes control element 211 and the phase-locked loop circuit with the electric connection of control element 211
212。
Control element 211 and the first light receiving element 271 and the second light receiving element 272 are electrically connected, for receiving the
The first mixed frequency signal and the second mixed frequency signal of one light receiving element 271 and the second light receiving element 272 feedback, and it is based on first
Mixed frequency signal and the second mixed frequency signal calculate the angular velocity of rotation of fibre optic gyroscope 200；It connect, is used for data output interface 29
Resulting angular velocity of rotation is calculated by the data output interface 29 output.Control element 211 can be field programmable gate array
(FeildProgrammable Gate Array, FPGA), digital signal processor (Digital Signal Processor,
DSP), Complex Programmable Logic Devices (Complex Programmable Logic Device, CPLD), micro-control unit
(Microcontroller Unit, MCU) etc..
Phase-locked loop circuit 212 generates above-mentioned two-way clock signal.Phase-locked loop circuit 212 respectively with the first light emitting devices
231 and second light emitting devices 233 be electrically connected, for exporting rf modulated signal, with control the first light emitting devices 231 and
Second light emitting devices 233 shines；It is electrically connected with the first light receiving element 271 and the second light receiving element 272, for incite somebody to action this
Vibration signal is sent to the first light receiving element 271 and the second light receiving element 272.Phase-locked loop circuit 212 can be phase-locked loop
(Phase Locked Loop, PLL), Direct Digital Synthesizer (Direct Digital Synthesizer, DDS),
CPLD or FPGA etc..
It is appreciated that being not construed as limiting for the specific structure of phase-locked loop circuit 212, in the present embodiment as long as it can be produced
Raw above-mentioned two-way clock signal.
It is appreciated that control element 211 can be realized phase locked looped function, at this point, phase-locked loop circuit in other embodiments
212 can omit.Control element 211 can be FPGA, CPLD, the MCU with phase locked looped function.The application is to phaselocked loop function
The concrete type and structure of the MCU of energy is not construed as limiting, as long as the MCU can be realized phase locked looped function.
It is appreciated that fibre optic gyroscope 200 further includes the first modulation control circuit 221 and the second modulation in the present embodiment
Control circuit 222.First modulation control circuit 221 is connected between controller 21 and the first light emitting devices 231, for being based on
Rf modulated signal generates the first modulated signal, is shone with controlling first light emitting devices 231.In the present embodiment, first is adjusted
Control circuit 221 processed is connected between phase-locked loop circuit 212 and the first light emitting devices 231, and is electrically connected with control element 211
It connects.First modulation control circuit 221 is controlled by the control element 211, the rf modulated signal sent based on phase-locked loop circuit 212
The first modulated signal is generated, and then the first light emitting devices 231 is controlled by the first modulated signal and is shone.
Second modulation control circuit 222 is connected between controller 21 and the second light emitting devices 233, for being based on radio frequency
Modulated signal generates the second modulated signal, is shone with controlling second light emitting devices 233.In the present embodiment, the second modulation control
Circuit 222 processed is connected between phase-locked loop circuit 212 and the second light emitting devices 233, and is electrically connected with control element 211.
Second modulation control circuit 222 is controlled by the control element 211, and the rf modulated signal sent based on phase-locked loop circuit 212 is raw
At the second modulated signal, and then the second light emitting devices 233 is controlled by the first modulated signal and is shone.
In the present embodiment, the specific structure of the first modulation control circuit 221 and its with controller 21 and the first optical transmitting set
It the specific structure of connection relationship and the second modulation control circuit 222 between part 231 and its is sent out with controller 21 and the second light
The specific structure of modulation control circuit 12 in connection relationship and previous embodiment between emitter part 233 and its with controller 11
And the connection relationship of light emitting devices 13 is similar, details are not described herein.
First light emitting devices 231 and the second light emitting devices 233 are electrically connected with controller 21, for being based respectively on
First modulated signal and the second modulated signal issue the first optical signal and the second optical signal.First light emitting devices 231 and second
Light emitting devices 233 all can be laser diode (Laser Diode, LD), light emitting diode (Light Emitting
Diode, LED) etc..
First fiber optic loop 251 is arranged between the first light emitting devices 231 and the first light receiving element 271, and the first light
The both ends of fine ring 251 with 271 optical coupling of the first light emitting devices 231 and the first light receiving element, are used to send out the first light respectively
The first optical signal transmission to the first light receiving element 271 that emitter part 231 emits.In the present embodiment, the two of the first fiber optic loop 251
End is aligned with the light inputting end for going out light end and the first light receiving element 271 of the first light emitting devices 231 respectively, so that the first optical fiber
The both ends of ring 251 respectively with 271 optical coupling of the first light emitting devices 231 and the first light receiving element.
It is appreciated that in other embodiments, the first light emitting devices 231 go out light end and the first fiber optic loop 251 enter light
Be provided with condenser lens between end, light from the first light emitting devices 231 go out light bring out penetrate after be coupled by condenser lens
Enter the first fiber optic loop 251.Optionally, it is also equipped with condenser lens between the first fiber optic loop 251 and the first light receiving element 271,
The light of first fiber optic loop 251 transmission is coupled into the first optical receiver by condenser lens from after the outgoing of the first fiber optic loop 251
In part 271.
It is appreciated that being provided between the first light emitting devices 231 and the first fiber optic loop 251 has in other embodiments
The optical element of circular cone reflecting surface, the light that the first light emitting devices 231 is issued enter the first optical fiber through optical element convergence
Ring 251.In the present embodiment, the generally conical shape tubular of the optical element, including light inputting end and the out light end opposite with incidence end.Enter
The aperture at light end is greater than the aperture at light end.The inner tube wall of the optical element is reflecting surface.The light inputting end of optical element and first
Light emitting devices 231 goes out the alignment of light end, and the light end that goes out of optical element is aligned with the incidence end of the first fiber optic loop 251, to realize
The light that first light emitting devices 231 is issued is converged in the first fiber optic loop 251.Optionally, the first fiber optic loop 251 and first
It may also set up the optical device with circular cone reflecting surface between light receiving element 271.At this point, the light inputting end of the optical element with
The light exit side of first fiber optic loop 251 is aligned, and the light end that goes out of the optical element is aligned with the first light receiving element 271, with reality
The light now transmitted through the first fiber optic loop 251 enters the first light receiving element 271 by optical element convergence.
Second fiber optic loop 253 is arranged between the second light emitting devices 233 and the second light receiving element 272, and the second light
The both ends of fine ring 253 with 272 optical coupling of the second light emitting devices 233 and the second light receiving element, are used to send out the second light respectively
The second optical signal transmission to the second light receiving element 272 that emitter part 233 emits.In the present embodiment, the two of the second fiber optic loop 253
End is aligned with the light inputting end for going out light end and the second light receiving element 272 of the second light emitting devices 233 respectively, so that the second optical fiber
The both ends of ring 253 respectively with 272 optical coupling of the second light emitting devices 233 and the second light receiving element.
It is appreciated that in other embodiments, the second light emitting devices 233 go out light end and the second fiber optic loop 253 enter light
Be provided with condenser lens between end, light from the second light emitting devices 233 go out light bring out penetrate after be coupled by condenser lens
Enter the second fiber optic loop 253.Optionally, it is also equipped with condenser lens between the second fiber optic loop 253 and the second light receiving element 272,
The light of second fiber optic loop 253 transmission is coupled into the second optical receiver by condenser lens from after the outgoing of the second fiber optic loop 253
In part 272.
It is appreciated that being provided between the second light emitting devices 233 and the second fiber optic loop 253 has in other embodiments
The optical element of circular cone reflecting surface, the light that the second light emitting devices 233 is issued enter the second optical fiber through optical element convergence
Ring 253.The light inputting end of the optical element is aligned with the light exit side of the second light emitting devices 233, which goes out light end
Be aligned with the light incident side of the second fiber optic loop 253, the light convergence which is issued enter this second
Fiber optic loop 253.Optionally, it may also set up between the second fiber optic loop 253 and the second light receiving element 272 with circular cone reflecting surface
Optical element, through the second fiber optic loop 253 transmission light by the optical element convergence enter the second light receiving element 272.
The light inputting end of the optical element is aligned with the light exit side of second fiber optic loop 253, the optical element go out light end and this second
Light receiving element 272 is aligned, and the light that will be transmitted through the second fiber optic loop 253 enters second light by optical element convergence
Receiving device 272.
In 253 the two of first fiber optic loop 251 and the second fiber optic loop, the optical fiber of one of them is wound along clockwise direction, separately
The optical fiber of one is wound in the counterclockwise direction.First fiber optic loop 251 and the radius having the same of the second fiber optic loop 253 and winding circle
Number.In the present embodiment, the first fiber optic loop 251 and the second fiber optic loop 253 are wrapped on same winding carrier or around same axle center
Winding.
First light receiving element 271 is used to the first optical signal transmitted through the first fiber optic loop 251 being converted to the first telecommunications
Number, and the first electric signal and local oscillation signal are subjected to Frequency mixing processing, the first mixed frequency signal is formed, and the first mixed frequency signal is anti-
It feeds controller 21.
In the present embodiment, the first light receiving element 271 include the first photo-electric conversion element 2711 and with the first photoelectric conversion
The first Mixing elements 2712 that element 2711 is electrically connected.
251 optical coupling of first photo-electric conversion element 2711 and the first fiber optic loop is transmitted for receiving through the first fiber optic loop 251
Optical signal, and convert optical signals to the first electric signal, and give the first electric signal transmission to the first Mixing elements 2712.The
One photo-electric conversion element 2711 can be avalanche mode photodiodes (Avalanche Photo Diode, APD), two pole of photoelectricity
It manages (Photo Diode), the photoelectricity such as Positive Intrinsic Negative (PIN) photodiode or photomultiplier tube
Switching device.
First Mixing elements 2712 are also electrically connected with controller 21, the local oscillator letter exported for receiving controller 21
Number.In the present embodiment, the first Mixing elements 2712 are electrically connected with phase-locked loop circuit 212, are given birth to receiving phase-locked loop circuit 212
At local oscillation signal.First Mixing elements 2712 by local oscillation signal with from received electric signal from the first photo-electric conversion element 2711
Frequency mixing processing is carried out, forms the first mixed frequency signal, and the first mixed frequency signal is fed back into controller 21.In the present embodiment, first
Mixed frequency signal is fed back to control element 211 by Mixing elements 2712.
It is appreciated that being not construed as limiting for the specific structure of the first Mixing elements 2712, in the present embodiment as long as it can
It realizes and local oscillation signal is subjected to Frequency mixing processing with from the received electric signal of the first photo-electric conversion element 2711, generate the first mixing letter
Number and feed back to controller 21.
It is appreciated that the first Mixing elements 2712 can omit in other embodiments, and pass through the first photo-electric conversion element
First electric signal and local oscillation signal are carried out Frequency mixing processing by 2711.
Second light receiving element 272 is used to the second optical signal transmitted through the second fiber optic loop 253 being converted to the second telecommunications
Number, and the second electric signal and local oscillation signal are subjected to Frequency mixing processing, the second mixed frequency signal is formed, and the second mixed frequency signal is anti-
It feeds controller 21.
In the present embodiment, the second light receiving element 272 include the second photo-electric conversion element 2721 and with the second photoelectric conversion
The second Mixing elements 2722 that element 2721 is electrically connected.
253 optical coupling of second photo-electric conversion element 2721 and the second fiber optic loop is transmitted for receiving through the second fiber optic loop 253
The second optical signal, and the second optical signal is converted into the second electric signal, and by the second electric signal transmission to the second mixing member
Part 2722.Second photo-electric conversion element 2721 can be avalanche mode photodiodes (Avalanche Photo Diode, APD),
Photodiode (Photo Diode), Positive Intrinsic Negative (PIN) photodiode or photomultiplier transit
The electrooptical devices such as pipe.
Second Mixing elements 2722 are also electrically connected with controller 21, the local oscillator letter exported for receiving controller 21
Number.In the present embodiment, the second Mixing elements 2722 are electrically connected with phase-locked loop circuit 212, are given birth to receiving phase-locked loop circuit 212
At local oscillation signal.Second Mixing elements 2722 by local oscillation signal with from received electric signal from the second photo-electric conversion element 2721
Frequency mixing processing is carried out, forms the second mixed frequency signal, and the second mixed frequency signal is fed back into controller 21.In the present embodiment, second
Second mixed frequency signal is fed back to control element 211 by Mixing elements 2722.
It is appreciated that being not construed as limiting for the specific structure of the second Mixing elements 2722, in the present embodiment as long as it can
It realizes and local oscillation signal is subjected to Frequency mixing processing with from the received electric signal of the second photo-electric conversion element 2721, generate the second mixing letter
Number and feed back to controller 21.
It is appreciated that the second Mixing elements 2722 can omit in other embodiments, and pass through the second photo-electric conversion element
Second electric signal and local oscillation signal are carried out Frequency mixing processing by 2721.
It is appreciated that fibre optic gyroscope 200 further includes local oscillator processing circuit 24 in the present embodiment.Local oscillator processing circuit 24
It is connected between controller 21 and the first light receiving element 271 and the second light receiving element 272, for being filtered to local oscillation signal
Wave, the processing such as amplification.Further, local oscillator processing circuit 24 be connected to phase-locked loop circuit 212 and the first light receiving element 271 and
Between second light receiving element 272.In the present embodiment, local oscillator processing circuit 24 is connected to phase-locked loop circuit 212 and is mixed with first
Between element 2712 and the second Mixing elements 2722, it is sent to after the local oscillation signal processing for being exported to phase-locked loop circuit 212
First Mixing elements 2712 and the second Mixing elements 2722.
It is appreciated that the present embodiment local oscillator processing circuit 24 specific structure and its with phase-locked loop circuit 212 and first
The tool of the local oscillator processing circuit 14 of connection relationship and previous embodiment between Mixing elements 2712 and the second Mixing elements 2722
Body structure and its connection relationship class between phase-locked loop circuit 112 and the first Mixing elements 1712 and the second Mixing elements 1722
Seemingly, it is not repeating herein.
It is appreciated that fibre optic gyroscope 200 further includes the first filter amplification circuit 281 and the second filtering in the present embodiment
Amplifying circuit 282.First filter amplification circuit 281 is connected between the first light receiving element 271 and controller 21, for the
First mixed frequency signal of one light receiving element 271 output amplifies, the processing such as filtering.The connection of second filter amplification circuit 282
Between the second light receiving element 272 and controller 21, the second mixed frequency signal for being exported to the second light receiving element 272 into
Row amplification, the processing such as filtering.In the present embodiment, the first filter amplification circuit 281 and the second filter amplification circuit 282 are respectively used to
In the first mixed frequency signal and the second mixed frequency signal and frequency signal is eliminated, to obtain the first difference frequency signal and the second difference frequency signal,
And by the first difference frequency signal and the second difference frequency signal amplify processing after feed back to controller 21.In the present embodiment, the first filter
Wave amplifying circuit 281 is connected between the first Mixing elements 2712 and control element 211, the connection of the second filter amplification circuit 282
Between the second Mixing elements 2712 and control element 211.
It is appreciated that the present embodiment the first filter amplification circuit 281 specific structure and its with the first Mixing elements
It the specific structure of connection relationship and the second filter amplification circuit 282 between 2712 and controller 21 and its is mixed with second
Connection relationship between the element 2722 and controller 21 specific knot with the first filter amplification circuit 181 in previous embodiment respectively
The tool of structure and its connection relationship and the second filter amplification circuit 182 between the first Mixing elements 1712 and controller 11
Body structure and its connection relationship between the second Mixing elements 1722 and controller 11 are similar, are not repeating herein.
It is appreciated that fibre optic gyroscope 200 further includes the first biasing circuit 261 and the second biasing circuit in the present embodiment
263.First biasing circuit 261 is connected between controller 21 and the first light receiving element 271, for adjusting the first optical receiver
The bias voltage of part 271.In the present embodiment, the first biasing circuit 261 is connected to control element 211 and the first photo-electric conversion element
Between 2711.Second biasing circuit 263 is connected between controller 21 and the second light receiving element 272, for adjusting the second light
The bias voltage of receiving device 272.In the present embodiment, the second biasing circuit 263 is connected to control element 211 and the second photoelectricity turns
It changes between element 2721.
It is appreciated that the specific structure of first biasing circuit 261 of the present embodiment and its being connect with controller 21 and the first light
It receives the specific structure of the connection relationship and the second biasing circuit 263 between device 271 and its is connect with controller 21 and the second light
Receive device 272 between connection relationship and previous embodiment the first biasing circuit 161 specific structure and its with controller 11
And first the connection relationship between light receiving element 171 and the second biasing circuit 163 specific structure and its with controller 11
And the second connection relationship between light receiving element 172 is similar, details are not described herein.
It is appreciated that fibre optic gyroscope 200 can also include the first temperature sensor 262 and the second temperature in the present embodiment
Spend sensor 264.The device 21 processed of first temperature sensor 262 is electrically connected and is arranged close to the first light receiving element 271, for adopting
Collect the temperature of the first light receiving element 271.Controller 21 is based on the temperature control first collected of the first temperature sensor 262 partially
The bias voltage of the first light receiving element 271 is adjusted in circuits 261.In the present embodiment, the first temperature sensor 262 with
Control element 211 is electrically connected.Control element 211 is based on the first biasing of temperature control collected of the first temperature sensor 262
The bias voltage of the first photo-electric conversion element 2711 is adjusted in circuit 261.
Second temperature sensor 264 and controller 21 are electrically connected and are arranged close to the second light receiving element 272, for adopting
Collect the temperature of the second light receiving element 272.Controller 21 is based on the temperature collected of second temperature sensor 264 control second partially
The bias voltage of the second light receiving element 272 is adjusted in circuits 263.In the present embodiment, second temperature sensor 264 with
Control element 211 is electrically connected.Control element 211 is based on the second biasing of the temperature collected of second temperature sensor 264 control
The bias voltage of the second photo-electric conversion element 2721 is adjusted in circuit 263.
Data output interface 29 and controller 21 are electrically connected, and calculate resulting rotation angle speed for o controller 21
Degree.Data output interface 29 can be serial line interface, serial external interface (Serial Peripheral Interface, SPI)
Or the communication interfaces such as controller local area network (Controller Area Network, CAN) interface.
Fibre optic gyroscope provided in this embodiment exports rf modulated signal and local oscillation signal, the first light hair by controller
Emitter part and the second light emitting devices are respectively according to the first modulated signal generated based on rf modulated signal and the second modulation letter
Number issue the first optical signal and the second optical signal, the first fiber optic loop respectively with the first light emitting devices and the first light receiving element light
Coupling, the first light receiving element will be converted to the first electric signal from received first optical signal of the first fiber optic loop, and electric by first
Signal and local oscillation signal carry out Frequency mixing processing and form the first mixed frequency signal, and the first mixed frequency signal is fed back to controller, and second
For fiber optic loop respectively with the second light emitting devices and the second light receiving element optical coupling, the second light receiving element will be from the second fiber optic loop
Received second optical signal is converted to the second electric signal, and the second electric signal and local oscillation signal are carried out Frequency mixing processing and form second
Mixed frequency signal, and the second mixed frequency signal is fed back into controller, controller passes through the first mixed frequency signal and the second mixed frequency signal meter
Calculation obtains optical path difference, and then obtains angular velocity of rotation, high without using price using fibre optic gyroscope provided by the present embodiment
Therefore expensive Y waveguide integrated optical modulator can reduce the cost of fibre optic gyroscope, be conducive to the civilian of the fibre optic gyroscope
Change and promotes.
Further, in this embodiment the first light emitting devices and the second light emitting devices are respectively according to based on controller
The modulated signal that the rf modulated signal of output generates issues optical signal, the first fiber optic loop and the second fiber optic loop for the first light emitting
The optical signal that device and the second light emitting devices issue is transmitted separately to the first light receiving element and the second light receiving element, then
Electric signal is converted optical signals to by the first light receiving element and the second light receiving element respectively, and by electric signal and local oscillation signal
The first mixed frequency signal and the second mixed frequency signal are formed after mixing, controller is calculated according to the first mixed frequency signal and the second mixed frequency signal
Light optical path difference, and then angular velocity of rotation is obtained, it include a fiber optic loop and a light receiving element, control compared with fibre optic gyroscope
The case where device samples mixed frequency signal according to time order and function or fibre optic gyroscope include a light emitting devices and two fiber optic loops pair
For the case where answering, in the present embodiment, since the first light emitting devices and the second light emitting devices are controlled by controller, because
This, can flexibly select to obtain mixed frequency signal according to time order and function by controller, or, while obtaining the first mixed frequency signal
And second mixed frequency signal, and then calculate optical path difference and obtain angular velocity of rotation, therefore, can preferably it meet the needs of users.
The above description is only an example of the present application, the protection scope being not intended to limit this application, for ability
For the technical staff in domain, various changes and changes are possible in this application.Within the spirit and principles of this application, made
Any modification, equivalent substitution, improvement and etc. should be included within the scope of protection of this application.
Claims (10)
1. a kind of fibre optic gyroscope, which is characterized in that including controller, light emitting devices, the first fiber optic loop, the second fiber optic loop,
First light receiving element and the second light receiving element；
The controller is for generating rf modulated signal and local oscillation signal；
The light emitting devices and the controller are electrically connected, for according to the modulation generated based on the rf modulated signal
Signal issues optical signal；
First fiber optic loop is arranged between the light emitting devices and first light receiving element, for sending out the light
The optical signal transmission that emitter part issues is to first light receiving element；
Second fiber optic loop is arranged between the light emitting devices and second light receiving element, for sending out the light
The optical signal transmission that emitter part issues is to second light receiving element；
First light receiving element and the controller are electrically connected, will be from described first for receiving the local oscillation signal
The received optical signal of fiber optic loop is converted to the first electric signal, and first electric signal and the local oscillation signal Frequency mixing processing are formed
First mixed frequency signal, and first mixed frequency signal is fed back into the controller；
Second light receiving element and the controller are electrically connected, will be from described second for receiving the local oscillation signal
The received optical signal of fiber optic loop is converted to the second electric signal, and second electric signal and the local oscillation signal Frequency mixing processing are formed
Second mixed frequency signal, and second mixed frequency signal is fed back into the controller；
The controller is also used to calculate optical path difference based on first mixed frequency signal and the second mixed frequency signal and obtains rotation angle
Speed.
2. fibre optic gyroscope as described in claim 1, which is characterized in that the controller includes control element and phaselocked loop,
The control element and first light receiving element and second light receiving element are electrically connected, for receiving described first
Mixed frequency signal and second mixed frequency signal, the control element are electrically connected with the phaselocked loop respectively, described for controlling
Phaselocked loop generates the rf modulated signal and the local oscillation signal.
3. fibre optic gyroscope as described in claim 1, which is characterized in that the fibre optic gyroscope further includes modulation control electricity
Road, the modulation control circuit are connected between the controller and the light emitting devices, and the modulation control circuit is based on
The radio frequency adjustment signal generates the modulated signal and controls the light emitting devices by the modulated signal and shines.
4. fibre optic gyroscope as described in claim 1, which is characterized in that the fibre optic gyroscope further includes local oscillator processing electricity
Road, the local oscillator processing circuit are connected to the controller and first light receiving element and the controller and described second
Between light receiving element, the local oscillator processing circuit is for handling the local oscillation signal.
5. fibre optic gyroscope as described in claim 1, which is characterized in that first light receiving element turns including the first photoelectricity
The first Mixing elements for changing element and being connect with first photo-electric conversion element, first photo-electric conversion element and described the
One fiber optic loop optical coupling, for the optical signal transmitted through first fiber optic loop to be converted to first electric signal, and
Give first electric signal transmission to first Mixing elements, first Mixing elements are also used to receive the local oscillator letter
Number, and first mixed frequency signal is generated after the local oscillation signal is mixed with first electric signal.
6. fibre optic gyroscope as described in claim 1, which is characterized in that the fibre optic gyroscope further includes the first filter and amplification
Circuit and the second filter amplification circuit, first filter amplification circuit are connected to first light receiving element and the control
Between device, for handling first mixed frequency signal, second filter amplification circuit is connected to second light and connects
It receives between device and the controller, for handling second mixed frequency signal.
7. fibre optic gyroscope as described in claim 1, which is characterized in that the fibre optic gyroscope further includes being connected to the control
The first biasing circuit between device processed and first light receiving element and it is connected to the controller and second light-receiving
The second biasing circuit between device, first biasing circuit are used to adjust the bias voltage of first light receiving element,
Second biasing circuit is used to adjust the bias voltage of second light receiving element.
8. fibre optic gyroscope as claimed in claim 7, which is characterized in that the fibre optic gyroscope further includes and the controller
The first temperature sensor and second temperature sensor of connection, first temperature sensor is close to first light receiving element
Setting, for acquiring the temperature of first light receiving element, the second temperature sensor is close to second optical receiver
Part setting, for acquiring the temperature of second light receiving element, the controller is based on first temperature sensor and is adopted
The temperature of collection controls first biasing circuit and the bias voltage of first light receiving element is adjusted, and based on described
Second temperature sensor temperature collected controls second biasing circuit to the bias voltage of second light receiving element
It is adjusted.
9. fibre optic gyroscope as described in claim 1, which is characterized in that the fibre optic gyroscope further includes beam splitter, institute
State light of the beam splitter setting between the light emitting devices and the fiber optic loop, for being emitted the light emitting devices
Signal is divided into two ways of optical signals, and the two ways of optical signals is transmitted to first light receiving element through first fiber optic loop respectively
And second light receiving element is transmitted to through second fiber optic loop.
10. fibre optic gyroscope as described in claim 1, which is characterized in that the light emitting devices includes the first optical transmitting set
Part and the second light emitting devices, first light emitting devices are used to be adjusted according to first generated based on the rf modulated signal
Signal processed issues the first optical signal, and first optical signal is transmitted to first light receiving element through first fiber optic loop,
Second light emitting devices is used to issue the second light letter according to the second modulated signal generated based on the rf modulated signal
Number, second optical signal is transmitted to second light receiving element through second fiber optic loop.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113267177A (en) * | 2021-04-13 | 2021-08-17 | 浙江大学 | Hollow-core photonic crystal fiber resonance gyroscope based on free-form surface lens coupling |
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