CN110926500A - PSD-based machine shaking laser gyro shaking detection device and method - Google Patents
PSD-based machine shaking laser gyro shaking detection device and method Download PDFInfo
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- CN110926500A CN110926500A CN201911081961.9A CN201911081961A CN110926500A CN 110926500 A CN110926500 A CN 110926500A CN 201911081961 A CN201911081961 A CN 201911081961A CN 110926500 A CN110926500 A CN 110926500A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention discloses a PSD-based machine shaking laser gyro shaking detection device and method, belonging to the field of detection devices, and the technical scheme is characterized by comprising a laser gyro body for emitting laser beams, wherein a shaking wheel is arranged in the middle of the laser gyro body so that the laser gyro body can shake in a reciprocating manner; the mounting box is used for placing the laser gyro main body, and a position sensitive detector is arranged on the inner side wall of the mounting box; the position sensitive detector is arranged at a position which can be directly irradiated by a laser beam in the cavity of the laser gyroscope; the position sensitive detector is connected with a PSD signal amplifying circuit through a lead, the PSD signal amplifying circuit is electrically connected with a shaking driving circuit, and the shaking driving circuit is electrically connected with the shaking wheel so that the position sensitive detector can perform feedback adjustment on the shaking wheel. The influence of the magnetic field of the permanent magnet on the precision of the laser gyro is eliminated, the defect of low installation precision of the shake detection device is effectively overcome, and the precision of the whole mechanical shake laser gyro is further improved.
Description
Technical Field
The invention relates to the technical field of detection devices, in particular to a PSD-based machine shaking laser gyro shaking detection device and method.
Background
The laser gyro is an instrument for measuring angular velocity by using the frequency difference between two beams (22A and 22B shown in fig. 2) propagating clockwise and counterclockwise in a ring-shaped resonant cavity. When the input angular velocity is smaller than a certain threshold value, the frequencies of two beams of light which are clockwise and anticlockwise propagated in the ring resonator of the laser gyro are locked together without generating a frequency difference. This is the latch-up effect of the laser gyro. In order to overcome the latch-up effect of the laser gyro, the most mature and widely used method at present is a mechanical dithering offset frequency method. The laser gyro is periodically and reciprocally shaken by a shaking wheel arranged at the center of a resonant cavity of the laser gyro, so that the generated input angular velocity drives the laser gyro to quickly pass through a lock area or even not pass through the lock area, thereby achieving the purpose of eliminating the blocking effect. A laser gyro that employs this method of overcoming the latch-up effect is called a mechanical dither laser gyro.
The periodic reciprocating shaking of the mechanical shaking laser gyro is driven and controlled by a shaking control circuit. In order to perform accurate feedback control on reciprocating jitter, a jitter detection device is required to detect the jitter of a mechanical jitter laser gyro and the jitter is used as an input signal of a jitter control circuit. The traditional shake detection device consists of a coil fixed on a main body of the mechanical shake laser gyro and a permanent magnet fixed on a mounting base or a mounting box. When the main body of the laser gyro is shaken periodically and reciprocally, the position change of the permanent magnet in the coil generates a periodic current signal, the reciprocating shaking of the laser gyro is detected by the current signal, and the detection result is used as feedback to control the reciprocating shaking of the laser gyro.
In a shake detection device composed of a permanent magnet and a coil, the permanent magnet generates a magnetic field around a mechanically shaken laser gyro, and the precision of the laser gyro is affected. Secondly, the structure between the mechanical shaking laser gyro and the mounting base or the mounting box thereof is compact, the shaking detection device is difficult to mount, and the mounting precision is low, so that shaking detection errors are caused. Third, temperature effects and aging effects in the presence of the permanent magnet can also cause jitter detection errors.
Therefore, a jitter detection device and method of a mechanically dithered laser gyroscope based on PSD is provided.
Disclosure of Invention
The present invention is directed to a device and a method for detecting jitter of a mechanically dithered laser gyroscope based on PSD, so as to solve the problems mentioned in the background art.
In order to achieve the above purpose, the invention provides a PSD-based jitter detection device for a mechanically jittered laser gyro, which comprises a laser gyro body for emitting laser beams, wherein a jitter wheel is arranged in the middle of the laser gyro body so that the laser gyro body can perform reciprocating jitter; the laser gyroscope comprises a mounting box for placing a laser gyroscope main body, wherein a position sensitive detector is mounted on the inner side wall of the mounting box; the position sensitive detector is arranged at a position which can be directly irradiated by a laser beam in the cavity of the laser gyroscope; the position sensitive detector is connected with a PSD signal amplifying circuit through a wire, the PSD signal amplifying circuit is electrically connected with a shaking driving circuit, and the shaking driving circuit is electrically connected with a shaking wheel so that the position sensitive detector can perform feedback adjustment on the shaking wheel.
Further, the position sensitive detector is a two-dimensional position sensitive detector.
Furthermore, the PSD signal amplifying circuit comprises an I-V conversion circuit and an alternating current amplifying circuit, wherein the input end of the I-V conversion circuit is connected with the output end of the position sensitive detector, the output end of the I-V conversion circuit is connected with the input end of the alternating current amplifying circuit, and the output end of the alternating current amplifying circuit is connected with the jitter driving circuit.
Furthermore, a light combination prism is arranged inside the mounting box, and a photodiode is arranged on the light combination prism, so that optical signals emitted by the cavity of the laser gyroscope are converted into electric signals.
Furthermore, the photodiode is connected with a laser gyro signal preamplification circuit through a lead and is used for enhancing the laser gyro angle frequency difference signal.
Further, the detection method comprises the following steps:
s1, the shaking wheel drives the whole laser gyro body to shake in a reciprocating manner, and the position of the laser beam in the laser gyro cavity, which is irradiated on the position sensitive detector, can change periodically;
s2, when the laser beam irradiates on different positions of the position sensitive detector, two paths of photo-generated current I are output at two ends of the position sensitive detector1、I2When the laser irradiates the central position of the position sensitive detector, the two currents have the same magnitude; when the laser irradiation deviates from the central position, currents with different magnitudes can be generated;
s3, converting the photo-generated current signal into a voltage signal through an I-V conversion circuit in the PSD signal amplification circuit, converting and amplifying the voltage signal through an alternating current amplification circuit, and outputting the amplified voltage signal U1、U2；
S4, amplified voltage signal U1、U2The reference voltage is output to a dither drive circuit to perform feedback control on the dither wheel.
Further, the photodiode is used for converting the laser gyro signal into an electric signal, so that the laser gyro angle frequency difference signal is output.
By applying the technical scheme of the invention, the beneficial effects are as follows: according to the jitter detection device and method for the mechanical jitter laser gyroscope, the reciprocating jitter amplitude of the mechanical jitter laser gyroscope is converted into a current signal to be output through the position sensitive detector, the PSD signal amplification circuit converts a weak current signal output by the position sensitive detector into a voltage signal to be amplified, and therefore the jitter of the mechanical jitter laser gyroscope is detected, the influence of the magnetic field of the permanent magnet on the precision of the laser gyroscope is eliminated, the defect of low installation precision of the jitter detection device is effectively overcome, and the precision of the whole mechanical jitter laser gyroscope is further improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 shows a structure diagram of a PSD-based mechanically dithered laser gyro dither detection device;
FIG. 2 is a schematic diagram illustrating the operation of a PSD dither detection apparatus according to the present invention;
FIG. 3 is a block diagram of a PSD jitter detection apparatus according to the present invention;
FIG. 4 shows a PSD signal amplification circuit of the present invention.
Wherein the figures include the following reference numerals:
10. mounting a box; 20. a laser gyro body; 21 shaking the wheel; 22. a laser beam; 22A, clockwise laser beam; 22B, a counter-clockwise laser beam; 23. a photodiode; 30. a position sensitive detector; 31. a PSD signal amplifying circuit; 32. a dither drive circuit; 40. a light-combining prism; 50. laser gyro signal preamplification circuit.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 4, the present invention provides a PSD-based jitter detection apparatus for a mechanically jittered laser gyro, which includes a laser gyro body 20 for emitting a laser beam 22, wherein a jitter wheel 21 is installed in the middle of the laser gyro body 20, so that the laser gyro body 20 can perform reciprocating jitter; the mounting box 10 is used for placing the laser gyro main body 20, and the position sensitive detector 30 is arranged on the inner side wall of the mounting box 10; wherein, the position sensitive detector 30 is arranged at the position which can be directly irradiated by the laser beam 22 in the cavity of the laser gyro; the position sensitive detector 30 is connected with a PSD signal amplifying circuit 31 through a wire, the PSD signal amplifying circuit 31 is electrically connected with a dither driving circuit 32, and the dither driving circuit 32 is electrically connected with the dither wheel 21, so that the position sensitive detector 30 performs feedback adjustment on the dither wheel 21.
By applying the technical scheme of the embodiment, the dither wheel 21 drives the whole laser gyro body 20 to perform reciprocating dither, the position of the laser irradiated on the position sensitive detector 30 in the cavity of the laser gyro body 20 also changes periodically, the reciprocating dither amplitude of the mechanically dithered laser gyro is converted into a current signal through the position sensitive detector 30 to be output, the PSD signal amplifying circuit 31 converts a weak current signal output by the position sensitive detector 30 into a voltage signal to be amplified, so that the dither of the mechanically dithered laser gyro is detected, the signal output by the PSD signal amplifying circuit 31 is the dither detection signal of the laser gyro, the signal is output to the dither driving circuit 32 to realize the dither closed-loop control of the mechanically dithered laser gyro, the design not only eliminates the influence of the magnetic field of the permanent magnet on the precision of the laser gyro, but also effectively solves the defect of low installation precision of the dither device, thereby improving the precision of the whole mechanically dithered laser gyro.
Optionally, the position sensitive detector 30 is a two-dimensional position sensitive detector.
For the specific structure of the PSD signal amplifying circuit 31, the PSD signal amplifying circuit 31 includes an I-V conversion circuit and an ac amplifying circuit, an input end of the I-V conversion circuit is connected to an output end of the position sensitive detector 30, an output end of the I-V conversion circuit is connected to an input end of the ac amplifying circuit, and an output end of the ac amplifying circuit is connected to the dither driving circuit 32.
This kind of design can change the weak current signal of position sensitive detector 30 output into voltage signal and enlargeing, can avoid the problem that the current signal that crosses weak loses easily in transmission process to the realization is trembled the accurate detection of laser gyro shake to the machine.
As shown in fig. 1, a light combining prism 40 is arranged inside the mounting box 10, and a photodiode 23 is arranged on the light combining prism 40, so that an optical signal emitted by the cavity of the laser gyro is converted into an electrical signal, and thus, a laser gyro angular frequency difference signal can be transmitted to the single chip microcomputer through the photodiode 23.
Specifically, the photodiode 23 is connected to a laser gyro signal pre-amplification circuit 50 through a wire, for enhancing the output laser gyro angle frequency difference signal.
The PSD-based machine shaking laser gyro shaking detection method comprises the following steps:
s1, the shaking wheel 21 drives the whole laser gyro body 20 to shake in a reciprocating manner, and the position of the laser beam 22 in the laser gyro cavity, which is irradiated on the position sensitive detector 30, can change periodically;
s2, when the laser beam 22 irradiates on different positions of the position sensitive detector 30, two paths of photo-generated current I are output at two ends of the position sensitive detector 301、I2When the laser irradiates the center position of the position sensitive detector 30, the two currents have the same magnitude; when the laser irradiation deviates from the central position, currents with different magnitudes can be generated;
s3, converting the photo-generated current signal into a voltage signal through an I-V conversion circuit in the PSD signal amplifying circuit 31, converting and amplifying the voltage signal through an alternating current amplifying circuit, and outputting the amplified voltage signal U1、U2；
S4, amplified voltage signal U1、U2The reference voltage is output to the dither drive circuit 32 to perform feedback control of the dither wheel 21.
The photodiode 23 is configured to convert the laser gyro signal into an electrical signal, so as to output a laser gyro angle frequency difference signal.
The following are some component models and functions of this embodiment:
position-sensitive detector 30: PSD-1212.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a machine shakes laser gyro shake detection device based on PSD which characterized in that: comprises that
The laser gyroscope comprises a laser gyroscope main body for emitting laser beams, wherein a shaking wheel is arranged in the middle of the laser gyroscope main body so that the laser gyroscope main body can shake in a reciprocating manner;
the laser gyroscope comprises a mounting box for placing a laser gyroscope main body, wherein a position sensitive detector is mounted on the inner side wall of the mounting box;
the position sensitive detector is arranged at a position which can be directly irradiated by a laser beam in the cavity of the laser gyroscope;
the position sensitive detector is connected with a PSD signal amplifying circuit through a wire, the PSD signal amplifying circuit is electrically connected with a shaking driving circuit, and the shaking driving circuit is electrically connected with a shaking wheel so that the position sensitive detector can perform feedback adjustment on the shaking wheel.
2. The PSD-based machine shaking laser gyro shake detection device according to claim 1, characterized in that: the position sensitive detector is a two-dimensional position sensitive detector.
3. The PSD-based machine shaking laser gyro shake detection device according to claim 1, characterized in that: the PSD signal amplifying circuit comprises an I-V conversion circuit and an alternating current amplifying circuit, wherein the input end of the I-V conversion circuit is connected with the output end of the position sensitive detector, the output end of the I-V conversion circuit is connected with the input end of the alternating current amplifying circuit, and the output end of the alternating current amplifying circuit is connected with the jitter driving circuit.
4. The PSD-based machine shaking laser gyro shake detection device according to claim 1, characterized in that: the laser gyroscope is characterized in that a light combining prism is arranged inside the mounting box, and a photodiode is arranged on the light combining prism so that optical signals emitted by the cavity of the laser gyroscope can be converted into electric signals.
5. The PSD-based machine shaking laser gyro shake detection device according to claim 3, characterized in that: the photodiode is connected with a laser gyro signal preamplification circuit through a lead and is used for enhancing the laser gyro angle frequency difference signal.
6. The PSD-based machine shaking laser gyro shake detection device according to any one of claims 1-5, wherein the detection method comprises the following steps:
s1, the shaking wheel drives the whole laser gyro body to shake in a reciprocating manner, and the position of the laser beam in the laser gyro cavity, which is irradiated on the position sensitive detector, can change periodically;
s2, when the laser beam irradiates on different positions of the position sensitive detector, two paths of photo-generated current I are output at two ends of the position sensitive detector1、I2When the laser irradiates the central position of the position sensitive detector, the two currents have the same magnitude; when the laser irradiation deviates from the central position, currents with different magnitudes can be generated;
s3, converting the photo-generated current signal into a voltage signal through an I-V conversion circuit in the PSD signal amplification circuit, converting and amplifying the voltage signal through an alternating current amplification circuit, and outputting the amplified voltage signal U1、U2；
S4, amplified voltage signal U1、U2The reference voltage is output to a dither drive circuit to perform feedback control on the dither wheel.
7. The PSD-based machine shaking laser gyro shake detection method according to claim 4, comprising: the photoelectric diode is used for converting the laser gyro signal into an electric signal, so that the laser gyro angle frequency difference signal is output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911081961.9A CN110926500A (en) | 2019-11-07 | 2019-11-07 | PSD-based machine shaking laser gyro shaking detection device and method |
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| CN201911081961.9A CN110926500A (en) | 2019-11-07 | 2019-11-07 | PSD-based machine shaking laser gyro shaking detection device and method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114636412A (en) * | 2022-05-17 | 2022-06-17 | 湖南亿诺胜精密仪器有限公司 | Mechanical shaking space three-axis laser gyroscope with electromagnetic shaking detection function and assembly method |
| CN115183758A (en) * | 2022-09-07 | 2022-10-14 | 四川图林科技有限责任公司 | Electromagnetic jitter detection device and detection method for ultrahigh-precision laser gyroscope |
| CN115290124A (en) * | 2022-10-10 | 2022-11-04 | 天津集智航宇科技有限公司 | Laser gyroscope rotation-free light-emitting vacuum aging device and method |
-
2019
- 2019-11-07 CN CN201911081961.9A patent/CN110926500A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114636412A (en) * | 2022-05-17 | 2022-06-17 | 湖南亿诺胜精密仪器有限公司 | Mechanical shaking space three-axis laser gyroscope with electromagnetic shaking detection function and assembly method |
| CN115183758A (en) * | 2022-09-07 | 2022-10-14 | 四川图林科技有限责任公司 | Electromagnetic jitter detection device and detection method for ultrahigh-precision laser gyroscope |
| CN115183758B (en) * | 2022-09-07 | 2022-12-06 | 四川图林科技有限责任公司 | Electromagnetic jitter detection device and detection method for ultrahigh-precision laser gyroscope |
| CN115290124A (en) * | 2022-10-10 | 2022-11-04 | 天津集智航宇科技有限公司 | Laser gyroscope rotation-free light-emitting vacuum aging device and method |
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