CN111238464A - A detection system and method of a resonant optical gyroscope based on the combination of reciprocity modulation and time division switching - Google Patents
A detection system and method of a resonant optical gyroscope based on the combination of reciprocity modulation and time division switching Download PDFInfo
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Abstract
本发明公开了一种基于互易性调制与时分切换相结合的谐振式光学陀螺检测系统及方法。首先对激光器发出的光进行互易性调制，随即在Y分支得到顺、逆时针方向(相对沿光学谐振腔传播方向)两路光，同时施加不同频率调制信号对两束光进行调制；Y分支输出进入2×2光开关进行时分切换，其输出进入光学谐振腔。出腔信号进行同频解调，其中一路解调信号经过信号处理后，反馈到激光器调谐端，使激光器频率锁定在该路谐振频率上。另一路解调信号经信号处理后作为陀螺转动信号输出。本发明提供的谐振式光学陀螺检测方法有利于在增大系统载波抑制比和抑制背向散射噪声的基础上，抑制残余强度调制等非互易性噪声的影响，提高谐振式光学陀螺的检测精度。
The invention discloses a resonant optical gyro detection system and method based on the combination of reciprocity modulation and time division switching. First, the light emitted by the laser is reciprocally modulated, and then two beams of light in the clockwise and counterclockwise directions (relatively along the propagation direction of the optical resonator) are obtained in the Y branch, and the two beams of light are modulated by applying different frequency modulation signals at the same time; the Y branch The output enters the 2×2 optical switch for time-division switching, and its output enters the optical resonant cavity. The out-cavity signal is demodulated at the same frequency, and one of the demodulated signals is fed back to the laser tuning end after signal processing, so that the laser frequency is locked at the resonant frequency of this channel. The other demodulated signal is output as a gyro rotation signal after signal processing. The resonant optical gyroscope detection method provided by the invention is beneficial to suppress the influence of non-reciprocal noises such as residual intensity modulation on the basis of increasing the system carrier suppression ratio and suppressing backscattered noise, and improve the detection accuracy of the resonant optical gyroscope .
Description
技术领域technical field
本发明涉及信号检测技术领域，涉及一种基互易性调制与2×2光开关时分切换相结合的谐振式光学陀螺的检测系统及方法。谐振式陀螺包括以光纤环形谐振腔为敏感元件的谐振式光纤陀螺和以光学谐振腔为核心敏感元件的谐振式集成光学陀螺。The invention relates to the technical field of signal detection, and relates to a detection system and method of a resonant optical gyroscope combining base reciprocity modulation and 2×2 optical switch time division switching. The resonant gyroscope includes a resonant fiber optic gyroscope with an optical fiber ring resonator as a sensitive element and a resonant integrated optical gyroscope with an optical resonant cavity as the core sensitive element.
背景技术Background technique
谐振式光学陀螺(Resonator Optic Gyroscope，ROG)是利用光学Sagnac效应实现对转动检测的一种高精度的惯性传感器。无振动部件的谐振式光学陀螺具有小型化、精度高、抗震动等优点。相比微机械陀螺(Micro Electro Mechanical Systems，MEMS)和干涉式光纤陀螺(Interferometric Fiber Optical Gyroscope，IFOG)，ROG将具有更大的优势。Resonator Optic Gyroscope (ROG) is a high-precision inertial sensor that uses the optical Sagnac effect to detect rotation. The resonant optical gyroscope without vibration components has the advantages of miniaturization, high precision, and anti-vibration. Compared with Micro Electro Mechanical Systems (MEMS) and Interferometric Fiber Optical Gyroscope (IFOG), ROG will have greater advantages.
由于Sagnac效应是一种非常微弱的效应，并且谐振式光学陀螺的光学噪声又很强，因此在谐振式光学陀螺系统中，信号调制与检测技术须具备噪声抑制功能。在谐振式光学陀螺中，影响其检测精度最为严重的是背向散射噪声，包括背向散射光强噪声和背向散射光与信号光之间的干涉项噪声的影响。为了抑制背向散射噪声，对谐振腔顺、逆时针方向光波常采用不同频率的相位调制以及载波抑制的方法，其中不同频率的相位调制技术用于抑制背向散射光强噪声，载波抑制则是为了抑制干涉项噪声，系统总的载波抑制比直接影响干涉项噪声的抑制程度。激光的相位调制一般采用铌酸锂等集成光学相位调制来实现，研究发现，相位调制器的非理想相位调制特性即在相位调制器上施加电压信号进行相位调制时，常伴有寄生的强度调制，寄生的强度调制和相位调制信号具有相同的频率特性，会被谐振腔输出端的信号解调模块解调出，当对谐振腔顺、逆时针方向光波采用不同频率的相位调制时，这两个相反方向的寄生强度调制影响也不同，残余强度调制最终成为制约谐振式光学陀螺的检测精度。因此，迫切需要研究一种既能有效抑制背向散射噪声又能避免残余强度调制噪声的信号调制与检测方法。Since the Sagnac effect is a very weak effect, and the optical noise of the resonant optical gyroscope is very strong, the signal modulation and detection technology must have the function of noise suppression in the resonant optical gyroscope system. In the resonant optical gyroscope, the most serious influence on the detection accuracy is the backscattered noise, including the influence of the backscattered light intensity noise and the interference term noise between the backscattered light and the signal light. In order to suppress the backscattered noise, the methods of phase modulation and carrier suppression of different frequencies are often used for the clockwise and counterclockwise light waves of the resonator. Among them, the phase modulation technology of different frequencies is used to suppress the backscattered light intensity noise, and the carrier suppression is a In order to suppress the interference term noise, the total carrier suppression ratio of the system directly affects the suppression degree of the interference term noise. The phase modulation of the laser is generally realized by integrated optical phase modulation such as lithium niobate. It is found that the non-ideal phase modulation characteristics of the phase modulator, that is, when a voltage signal is applied to the phase modulator for phase modulation, is often accompanied by parasitic intensity modulation. , the parasitic intensity modulation and phase modulation signals have the same frequency characteristics, and will be demodulated by the signal demodulation module at the output end of the resonator. The influence of the parasitic intensity modulation in the opposite direction is also different, and the residual intensity modulation eventually restricts the detection accuracy of the resonant optical gyroscope. Therefore, there is an urgent need to develop a signal modulation and detection method that can effectively suppress backscattered noise and avoid residual intensity modulation noise.
发明内容SUMMARY OF THE INVENTION
本发明的目的是针对现有技术的不足，提供一种基于互易性相位调制和时分切换相结合的谐振式光学陀螺的检测系统及方法，首先对激光器发出的光进行互易性调制，输出进入Y分支后得到顺、逆时针方向(针对后续沿光学谐振腔传播方向而言)的两束光，同时Y分支分别采用不同频率的调制信号对这两束光进行相位调制；经过两次调制后的信号输入到2×2的光开关进行时分切换，光开关的输出进入光学谐振腔。出腔的顺时针和逆时针输出信号进行同频解调，其中一路解调信号经过数字信号处理之后，反馈到激光器频率调谐端，使激光器频率与该路谐振频率锁定在一起。另外一路解调信号经数字信号处理后作为陀螺转动信号进行输出。The purpose of the present invention is to provide a detection system and method for a resonant optical gyroscope based on the combination of reciprocal phase modulation and time-division switching, aiming at the deficiencies of the prior art. After entering the Y branch, two beams of light in the clockwise and counterclockwise directions (for the subsequent propagation direction along the optical resonator cavity) are obtained. At the same time, the Y branch uses modulation signals of different frequencies to phase-modulate the two beams; after two modulations The latter signal is input to the 2×2 optical switch for time-division switching, and the output of the optical switch enters the optical resonant cavity. The clockwise and counterclockwise output signals out of the cavity are demodulated at the same frequency. One of the demodulated signals is processed by digital signals and fed back to the laser frequency tuning terminal, so that the laser frequency and the resonance frequency of the channel are locked together. Another channel of demodulated signal is processed by digital signal and output as gyro rotation signal.
本发明的目的是通过以下技术方案来实现的：The purpose of this invention is to realize through the following technical solutions:
一种基于互易性调制与时分切换相结合的谐振式光学陀螺检测系统，包括可调谐激光器、光学隔离器、第一相位调制器、Y分支相位调制器、2×2光开关、光学谐振腔、光电转换模块构成的光学系统以及由信号解调模块、第一低通滤波器、第二低通滤波器、伺服反馈控制器构成的信号处理系统。A resonant optical gyro detection system based on the combination of reciprocity modulation and time division switching, comprising a tunable laser, an optical isolator, a first phase modulator, a Y-branch phase modulator, a 2×2 optical switch, an optical resonant cavity , an optical system composed of a photoelectric conversion module, and a signal processing system composed of a signal demodulation module, a first low-pass filter, a second low-pass filter, and a servo feedback controller.
进一步的，可调谐激光器、光学隔离器、第一相位调制器、Y分支相位调制器依次相连，第一相位调制器与解调模块相连；Y分支相位调制器的两个输出端分别与2×2光开关的两个输入端相连，2×2光开关的两个输出端与光学谐振腔相连，并将光学谐振腔、光电转换模块与信号解调模块依次相连；信号解调模块的第一输出端经第一低通滤波器、伺服反馈控制器与可调谐激光器的调谐端连接，信号解调模块的第二输出端与第二低通滤波器相连。Further, the tunable laser, the optical isolator, the first phase modulator, and the Y branch phase modulator are connected in sequence, and the first phase modulator is connected with the demodulation module; the two output ends of the Y branch phase modulator are respectively connected to 2× The two input ends of the 2 optical switch are connected, the two output ends of the 2×2 optical switch are connected to the optical resonant cavity, and the optical resonant cavity, the photoelectric conversion module and the signal demodulation module are connected in sequence; The output end is connected to the tuning end of the tunable laser through the first low-pass filter and the servo feedback controller, and the second output end of the signal demodulation module is connected to the second low-pass filter.
本发明提供了一种应用上述谐振式光学陀螺检测系统的检测方法，包括以下步骤：The present invention provides a detection method using the above-mentioned resonant optical gyro detection system, comprising the following steps:
1)可调谐激光器输出的光经过光学隔离器之后进入第一相位调制器，在第一相位调制器上采用某一频率的电信号对光信号进行互易性调制，经过互易性调制的光信号进入Y分支相位调制器一分为二，两路光在Y分支相位调制器上分别进行调制，然后经2×2光开关进入光学谐振腔，分别形成顺时针、逆时针的两束谐振光，出腔后的谐振光由光电转换模块转换成电信号；信号解调模块产生第一相位调制器上的同频信号并对接收到的电信号进行解调，得到解调信号；1) The light output by the tunable laser enters the first phase modulator after passing through the optical isolator, and an electrical signal of a certain frequency is used on the first phase modulator to reciprocally modulate the optical signal, and the reciprocally modulated light The signal enters the Y-branch phase modulator and is divided into two parts. The two paths of light are modulated separately on the Y-branch phase modulator, and then enter the optical resonant cavity through a 2×2 optical switch to form two clockwise and counterclockwise resonant beams respectively. , the resonant light after exiting the cavity is converted into an electrical signal by the photoelectric conversion module; the signal demodulation module generates the same frequency signal on the first phase modulator and demodulates the received electrical signal to obtain a demodulated signal;
2)通过使用2×2光开关使得在同一时刻只有一个输出端口有信号输出，因此同一时刻从光学谐振腔中输出的只能是顺时针谐振光或逆时针谐振光；将逆时针输出的解调信号作为误差信号，由第一低通滤波器对其进行比例和积分运算处理，然后通过伺服反馈控制器反馈到可调谐激光器的调谐端，使可调谐激光器频率锁定在光学谐振腔逆时针方向的谐振频率上；顺时针输出的解调信号经过第一低通滤波器对其进行比例和积分运算处理，获得陀螺转动信号作为最终输出。2) By using a 2×2 optical switch, only one output port has a signal output at the same time, so the output from the optical resonant cavity at the same time can only be clockwise resonant light or counterclockwise resonant light; The tuning signal is used as an error signal, which is processed by the proportional and integral operations of the first low-pass filter, and then fed back to the tuning end of the tunable laser through the servo feedback controller, so that the frequency of the tunable laser is locked in the counterclockwise direction of the optical resonator. On the resonant frequency of ; the demodulated signal output clockwise is subjected to proportional and integral operation processing by the first low-pass filter, and the gyro rotation signal is obtained as the final output.
本发明的另一目的在于提供了另一种基于互易性调制与时分切换相结合的谐振式光学陀螺检测系统，包括可调谐激光器、光学隔离器、第一相位调制器、Y分支相位调制器、2×2光开关、光学谐振腔、光电转换模块构成的光学系统以及由信号解调模块、第一低通滤波器、第二低通滤波器、伺服反馈控制器、伺服移频模块、闭环反馈相位调制器构成的信号处理系统。Another object of the present invention is to provide another resonant optical gyro detection system based on the combination of reciprocity modulation and time division switching, including a tunable laser, an optical isolator, a first phase modulator, and a Y-branch phase modulator , 2×2 optical switch, optical resonant cavity, optical system composed of photoelectric conversion module and signal demodulation module, first low-pass filter, second low-pass filter, servo feedback controller, servo frequency shifting module, closed loop A signal processing system composed of a feedback phase modulator.
进一步的，可调谐激光器、光学隔离器、第一相位调制器、Y分支相位调制器依次相连，第一相位调制器同时与信号解调模块相连；Y分支相位调制器的两个输出端分别与2×2光开关的两个输入端相连，2×2光开关的两个输出端与光学谐振腔相连，并将光学谐振腔、光电转换模块与信号解调模块依次相连；信号解调模块的第一输出端经第一低通滤波器、伺服反馈控制器与可调谐激光器的调谐端连接，信号解调模块的第二输出端依次连接第二低通滤波器、伺服移频模块、闭环反馈相位调制器，所述的闭环反馈相位调制器的输出端信号施加到Y分支相位调制器中位于顺时针支路上的相位调制器上。Further, the tunable laser, the optical isolator, the first phase modulator, and the Y branch phase modulator are connected in sequence, and the first phase modulator is connected with the signal demodulation module at the same time; the two output ends of the Y branch phase modulator are respectively connected to the signal demodulation module. The two input ends of the 2×2 optical switch are connected, the two output ends of the 2×2 optical switch are connected with the optical resonant cavity, and the optical resonant cavity, the photoelectric conversion module and the signal demodulation module are connected in sequence; The first output terminal is connected to the tuning terminal of the tunable laser through the first low-pass filter and the servo feedback controller, and the second output terminal of the signal demodulation module is connected to the second low-pass filter, the servo frequency shifting module, and the closed-loop feedback in turn. Phase modulator, the output signal of the closed-loop feedback phase modulator is applied to the phase modulator on the clockwise branch of the Y branch phase modulator.
本发明提供了一种应用上述谐振式光学陀螺检测系统的检测方法，包括以下步骤：The present invention provides a detection method using the above-mentioned resonant optical gyro detection system, comprising the following steps:
1)可调谐激光器输出的光经过光学隔离器之后进入第一相位调制器，在第一相位调制器上采用某一频率的电信号对光信号进行互易性调制，经过互易性调制的光信号进入Y分支相位调制器一分为二，两路光在Y分支相位调制器上分别进行再一次调制，然后经2×2光开关进入光学谐振腔，分别形成顺时针、逆时针的两束谐振光，出腔后的谐振光由光电转换模块转换成电信号；信号解调模块产生第一相位调制器上的同频信号并对接收到的电信号进行解调，得到解调信号；1) The light output by the tunable laser enters the first phase modulator after passing through the optical isolator, and an electrical signal of a certain frequency is used on the first phase modulator to reciprocally modulate the optical signal, and the reciprocally modulated light The signal enters the Y branch phase modulator and is divided into two parts, and the two paths of light are modulated again on the Y branch phase modulator respectively, and then enter the optical resonator through the 2×2 optical switch, forming two clockwise and counterclockwise beams respectively. Resonant light, the resonant light after exiting the cavity is converted into an electrical signal by the photoelectric conversion module; the signal demodulation module generates the same frequency signal on the first phase modulator and demodulates the received electrical signal to obtain a demodulated signal;
2)控制2×2光开关在同一时刻只有一个输出端口工作，因此同一时刻从光学谐振腔中输出的只能是顺时针谐振光或逆时针谐振光；将逆时针输出的解调信号作为误差信号，由第一低通滤波器对其进行比例和积分运算处理，然后通过伺服反馈控制器反馈到可调谐激光器的调谐端，使可调谐激光器频率锁定在光学谐振腔逆时针方向的谐振频率上；2) Only one output port of the 2×2 optical switch is controlled to work at the same time, so the output from the optical resonant cavity at the same time can only be clockwise resonant light or counterclockwise resonant light; the demodulated signal output in the counterclockwise direction is used as the error The signal is processed proportionally and integrally by the first low-pass filter, and then fed back to the tuning end of the tunable laser through the servo feedback controller, so that the frequency of the tunable laser is locked at the counterclockwise resonant frequency of the optical resonator. ;
将顺时针输出的解调信号经过第二低通滤波器对其进行比例和积分运算处理，然后输入到伺服移频模块中获得带有陀螺转速信息的电压信号，再经闭环反馈相位调制器得到移频量；将移频量反馈到Y分支相位调制器中位于顺时针支路上的相位调制器上，使得顺时针支路的光信号锁定在光学谐振腔顺时针方向的谐振频率上，移频量即反映了陀螺的转动信号。The clockwise output demodulated signal is processed by proportional and integral operation through the second low-pass filter, and then input to the servo frequency shifting module to obtain the voltage signal with the gyro speed information, and then obtained through the closed-loop feedback phase modulator. Frequency shift amount; the frequency shift amount is fed back to the phase modulator on the clockwise branch in the Y branch phase modulator, so that the optical signal of the clockwise branch is locked on the clockwise resonant frequency of the optical resonator, frequency shifting The quantity reflects the rotation signal of the gyro.
本发明具有的有益效果：The beneficial effects that the present invention has:
(1)本发明提供的谐振式光学陀螺的检测方法采用了互易性调制解调技术，即通过第一相位调制器对激光施加同频调制信号使其避免了由于采用不同调制频率带来的寄生强度调制，提高了系统的互易性，有效抑制了寄生强度调制；(1) The detection method of the resonant optical gyroscope provided by the present invention adopts the reciprocal modulation and demodulation technology, that is, the same frequency modulation signal is applied to the laser through the first phase modulator, so as to avoid the use of different modulation frequencies. The parasitic intensity modulation improves the reciprocity of the system and effectively suppresses the parasitic intensity modulation;
(2)本发明提供的谐振式光学陀螺的检测方法采用了Y分支，在Y分支上对一分为二的激光信号再一次进行调制，能带来附加的载波抑制效果，能抑制背向散射中的干涉项影响，提高了系统的稳定度。(2) The detection method of the resonant optical gyroscope provided by the present invention adopts the Y branch, and the laser signal divided into two is modulated again on the Y branch, which can bring additional carrier suppression effect and can suppress backscattering The influence of the interference term in the system improves the stability of the system.
(3)本发明提供的谐振式光学陀螺的检测方法采用了时分切换的新方法，通过引入2×2光开关使得同一时刻谐振腔只存在顺时针光信号或者逆时针光信号，有利于实现背向散射强度噪声以及部分干涉项噪声的抑制。(3) The detection method of the resonant optical gyroscope provided by the present invention adopts a new method of time-division switching. By introducing 2×2 optical switches, only a clockwise optical signal or a counterclockwise optical signal exists in the resonant cavity at the same time, which is beneficial to realize the Suppression of scattered intensity noise and some interference term noise.
附图说明Description of drawings
图1是本发明的第一种基于互易性相位调制和时分切换相结合谐振式光学陀螺检测系统的结构示意图；1 is a schematic structural diagram of a first resonant optical gyro detection system based on the combination of reciprocal phase modulation and time-division switching of the present invention;
图2是本发明的第二种基于互易性相位调制和时分切换相结合谐振式光学陀螺检测系统的结构示意图；2 is a schematic structural diagram of a second resonant optical gyro detection system based on the combination of reciprocal phase modulation and time-division switching of the present invention;
图3是经信号处理后输出的曲线示意图；3 is a schematic diagram of a curve output after signal processing;
图4是谐振式光学陀螺转动时顺时针和逆时针谐振频率与激光器频率关系示意图；4 is a schematic diagram of the relationship between the clockwise and counterclockwise resonance frequencies and the laser frequency when the resonant optical gyro rotates;
图5是基于2*2光开关谐振式光学陀螺的检测系统的具体实施案例示意图；5 is a schematic diagram of a specific implementation case of a detection system based on a 2*2 optical switch resonant optical gyroscope;
图中：1、可调谐激光器，2、隔离器，3、相位调制器，4、Y分支相位调制器(以下简称Y分支)，5、2×2光开关，6、第一环形器，7、第二环形器，8、光学谐振腔，9、第一光电探测器，10、第二光电探测器，11、信号解调模块，12、第一低通滤波器，13伺服反馈控制器，14、第二低通滤波器，15、数据记录仪。In the figure: 1, tunable laser, 2, isolator, 3, phase modulator, 4, Y branch phase modulator (hereinafter referred to as Y branch), 5, 2×2 optical switch, 6, first circulator, 7 , second circulator, 8, optical resonant cavity, 9, first photodetector, 10, second photodetector, 11, signal demodulation module, 12, first low-pass filter, 13 servo feedback controller, 14. Second low pass filter, 15. Data recorder.
具体实施方式Detailed ways
下面结合实施例和附图来详细说明本发明，但本发明不仅限于此。The present invention will be described in detail below with reference to the embodiments and the accompanying drawings, but the present invention is not limited thereto.
如图1所示，一种基于互易性相位调制和时分切换相结合的谐振式光学陀螺的检测系统，它主要由可调谐激光器、光学隔离器、第一相位调制器、Y分支、光学谐振腔、光电转换模块构成的光学系统以及由信号的调制解调模块、反馈锁定模块、第一信号处理模块、第二信号处理模块、伺服移频模块、闭环反馈相位调制器构成的信号处理系统。可调谐激光器、光学隔离器、相位调制器和Y分支依次相连，Y分支两个输出分别于2×2光开关的两个输入相连，光开关两个输出分别于光学谐振腔依次相连，光学谐振腔、光电转换模块与信号解调模块依次相连，信号解调模块与相位调制器相连，信号解调模块、第一信号处理模块、反馈锁定模块与可调谐激光器依次相连，信号解调模块、第二信号处理模块与数据记录仪相连。As shown in Figure 1, a detection system based on a resonant optical gyroscope combining reciprocal phase modulation and time division switching is mainly composed of a tunable laser, an optical isolator, a first phase modulator, a Y branch, an optical resonance An optical system composed of a cavity, a photoelectric conversion module, and a signal processing system composed of a signal modulation and demodulation module, a feedback locking module, a first signal processing module, a second signal processing module, a servo frequency shifting module, and a closed-loop feedback phase modulator. The tunable laser, the optical isolator, the phase modulator and the Y branch are connected in sequence, the two outputs of the Y branch are respectively connected to the two inputs of the 2×2 optical switch, the two outputs of the optical switch are respectively connected to the optical resonator in turn, and the optical resonance The cavity, the photoelectric conversion module are connected with the signal demodulation module in turn, the signal demodulation module is connected with the phase modulator, the signal demodulation module, the first signal processing module, the feedback locking module are connected with the tunable laser in turn, the signal demodulation module, the first signal processing module and the tunable laser are connected in turn. The second signal processing module is connected with the data recorder.
上述检测系统的检测方法，包括以下步骤：The detection method of the above-mentioned detection system comprises the following steps:
激光器输出的光首先经过隔离器，进入相位调制器后采用由谐振腔自由谱宽度除以2√3得到值，作为调制频率的电信号进入Y分支，在Y分支上被分成顺、逆时针(相对于后续沿谐振腔的传输方向而言)两路光，同时Y分支上施加频率不同的两路信号分别对顺、逆时针两路光进行调制，使其获得额外的载波抑制效果。Y分支的两个输出进入2×2光开关，在光开关上实现时分切换的效果，并进一步提高系统的载波抑制比。Y光开关两个输出进入光学谐振腔，形成顺、逆时针的两个谐振光束，这两束光分别进入光电探测器转换成电信号。信号的调制解调模块产生同频信号分别对光电探测器输出的电信号进行解调，即可得到解调信号。原理图以逆时针为例，逆时针输出的解调信号作为误差信号，经过数字信号处理后，反馈到激光器的调谐端，使激光器频率锁定在谐振腔逆时针方向的谐振频率上；顺时针解调信号则经过数字信号处理后，直接作为转动信号作为陀螺最终输出。The light output by the laser first passes through the isolator, enters the phase modulator, and uses the value obtained by dividing the free spectrum width of the resonator by 2√3, and enters the Y branch as an electrical signal of the modulation frequency, where it is divided into clockwise and counterclockwise ( Compared with the subsequent transmission direction along the resonant cavity) two-way light, and at the same time applying two-way signals with different frequencies on the Y branch to modulate the clockwise and counterclockwise two-way light respectively, so that it can obtain additional carrier suppression effect. The two outputs of the Y branch enter the 2×2 optical switch, which realizes the effect of time-division switching on the optical switch and further improves the carrier suppression ratio of the system. The two outputs of the Y optical switch enter the optical resonant cavity to form two clockwise and counterclockwise resonant beams, which respectively enter the photodetector and convert into electrical signals. The signal modulation and demodulation module generates the same frequency signal to demodulate the electrical signal output by the photodetector respectively, so as to obtain the demodulated signal. The schematic diagram takes counterclockwise as an example. The demodulated signal outputted counterclockwise is used as an error signal. After digital signal processing, it is fed back to the tuning end of the laser, so that the frequency of the laser is locked at the counterclockwise resonance frequency of the resonator; clockwise solution After the modulation signal is processed by digital signal, it is directly used as the rotation signal as the final output of the gyro.
如图2所示，一种基于互易性相位调制和时分切换相结合的谐振式光学陀螺的检测装置，它主要由可调谐激光器、光学隔离器、Y分支、相位调制器、光学谐振腔、光电转换模块构成的光学系统以及由信号的调制解调模块、反馈锁定模块、第一信号处理模块、第二信号处理模块、伺服移频模块、闭环反馈相位调制器构成的信号处理系统。可调谐激光器、光学隔离器、相位调制器和Y分支依次相连，Y分支两个输出分别于2×2光开关的两个输入相连，光开关两个输出分别于光学谐振腔依次相连，光学谐振腔、光电转换模块与信号解调模块依次相连，信号解调模块与相位调制器相连，信号解调模块、第一信号处理模块、反馈锁定模块与可调谐激光器依次相连，信号解调模块、第二信号处理模块、伺服移频模块和闭环反馈相位调制器依次相连。As shown in Figure 2, a detection device based on a resonant optical gyroscope combining reciprocal phase modulation and time division switching is mainly composed of a tunable laser, an optical isolator, a Y branch, a phase modulator, an optical resonant cavity, An optical system composed of a photoelectric conversion module and a signal processing system composed of a signal modulation and demodulation module, a feedback locking module, a first signal processing module, a second signal processing module, a servo frequency shifting module, and a closed-loop feedback phase modulator. The tunable laser, the optical isolator, the phase modulator and the Y branch are connected in sequence, the two outputs of the Y branch are respectively connected to the two inputs of the 2×2 optical switch, the two outputs of the optical switch are respectively connected to the optical resonator in turn, and the optical resonance The cavity, the photoelectric conversion module are connected with the signal demodulation module in turn, the signal demodulation module is connected with the phase modulator, the signal demodulation module, the first signal processing module, the feedback locking module are connected with the tunable laser in turn, the signal demodulation module, the first signal processing module and the tunable laser are connected in turn. The second signal processing module, the servo frequency shifting module and the closed-loop feedback phase modulator are connected in turn.
上述检测系统的检测方法，包括以下步骤：The detection method of the above-mentioned detection system comprises the following steps:
激光器输出的光首先经过隔离器，进入相位调制器后采用某一频率的电信号对光信号进行互易性调制，相位调制器输出经过互易性调制的信号进入Y分支，在Y分支上被分成顺、逆时针(相对于后续沿谐振腔的传输方向而言)两路光，同时Y分支上施加频率不同的两路信号分别对顺、逆时针两路光进行调制，使其获得额外的载波抑制效果。Y分支的两个输出进入2×2光开关，在光开关上实现时分切换的效果，并进一步提高系统的载波抑制比。Y光开关两个输出进入光学谐振腔，形成顺、逆时针的两个谐振光束，这两束光分别进入光电探测器转换成电信号。信号的调制解调模块产生同频信号分别对光电探测器输出的电信号进行解调，即可得到解调信号。原理图以逆时针为例，逆时针输出的解调信号作为误差信号，经过数字信号处理后，反馈到激光器的调谐端，使激光器频率锁定在谐振腔逆时针方向的谐振频率上；顺时针解调信号则经过数字信号处理后，产生移频信号反馈到闭环反馈相位调制器上，使得顺时针光信号锁定在谐振腔另一路谐振频率上，移频量即反映了陀螺的转动信号。The light output by the laser first passes through the isolator, enters the phase modulator, and then uses an electrical signal of a certain frequency to modulate the optical signal reciprocally. It is divided into clockwise and counterclockwise (relative to the subsequent transmission direction along the resonant cavity) two-way light, and at the same time, two signals with different frequencies are applied to the Y branch to modulate the clockwise and counterclockwise two-way light respectively, so that it can obtain additional Carrier suppression effect. The two outputs of the Y branch enter the 2×2 optical switch, which realizes the effect of time-division switching on the optical switch and further improves the carrier suppression ratio of the system. The two outputs of the Y optical switch enter the optical resonant cavity to form two clockwise and counterclockwise resonant beams, which respectively enter the photodetector and convert into electrical signals. The signal modulation and demodulation module generates the same frequency signal to demodulate the electrical signal output by the photodetector respectively, so as to obtain the demodulated signal. The schematic diagram takes counterclockwise as an example. The demodulated signal outputted counterclockwise is used as an error signal. After digital signal processing, it is fed back to the tuning end of the laser, so that the frequency of the laser is locked at the counterclockwise resonance frequency of the resonator; clockwise solution After digital signal processing, the modulated signal generates a frequency shift signal and feeds it back to the closed-loop feedback phase modulator, so that the clockwise optical signal is locked at the other resonant frequency of the resonant cavity, and the frequency shift amount reflects the rotation signal of the gyroscope.
本发明提供的谐振式光学陀螺的检测方法有利于在增大系统载波抑制比抑制背向散射噪声的基础上，抑制残余强度调制等非互易性噪声的影响，最终提高谐振式光学陀螺的检测精度。The detection method of the resonant optical gyroscope provided by the present invention is beneficial to suppress the influence of non-reciprocal noises such as residual intensity modulation on the basis of increasing the system carrier suppression ratio and suppress the backscattered noise, and finally improve the detection of the resonant optical gyroscope. precision.
如图3所示的基于互易性相位调制和时分切换相结合谐振式光学陀螺的输出解调曲线。The output demodulation curve of the resonant optical gyroscope based on the combination of reciprocal phase modulation and time-division switching is shown in Figure 3.
如图4所示的谐振式光学陀螺转动时顺时针和逆时针谐振频率与激光器频率关系示意图，激光器频率始终稳定在逆时针光束的谐振频率，顺时针和逆时针光束的谐振频率差即为谐振式光学陀螺的转动信号。Figure 4 shows the relationship between the clockwise and counterclockwise resonance frequencies and the laser frequency when the resonant optical gyro rotates. The laser frequency is always stable at the resonance frequency of the counterclockwise beam, and the difference between the resonance frequencies of the clockwise and counterclockwise beams is the resonance The rotation signal of the optical gyroscope.
如图5所示，是一种基于互易性相位调制和时分切换相结合谐振式光学陀螺的实施案例，我们使用光学相位调制器作为调制器，光电探测器作为光电转换模块，在基于FPGA的开发平台上进行代码编写实现信号解调模块，信号处理模块，反馈锁定模块，使用数字万用表或者个人电脑作为数据记录仪。激光器1输出的光信号经过隔离器2后进入第一相位调制器进行互易性调制，随后进入Y分支4将光信号一分为二，得到顺、逆时针光信号，同时在Y分支上对顺、逆时针两路光采用不同频率进行第二次调制，从而进一步提高系统的载波抑制比。Y分支两个输出分别于2×2光开关5的两个输入相连，随即光开关的两个输出分别通过第一环形器6、第二环形器7进入光学谐振腔8，光学谐振腔输出的顺、逆时针信号再一次分别通过第二环形器7、第一环形器6进入第二光电探测器10、第一光电探测器9，两个光电探测器的输出进入解调模块11进行同频解调。其中逆时针解调信号通过第一低通滤波器12和伺服反馈控制器13后，反馈到激光器调谐端1，使得激光器中心频率锁定在谐振腔逆时针方向的谐振频率上；顺时针解调信号通过第二低通滤波器14后，输出陀螺的转动信息，并记录在数据记录仪15上。As shown in Figure 5, it is an implementation case of resonant optical gyroscope based on the combination of reciprocal phase modulation and time division switching. We use the optical phase modulator as the modulator and the photodetector as the photoelectric conversion module. Write code on the development platform to realize signal demodulation module, signal processing module, feedback locking module, and use digital multimeter or personal computer as data recorder. The optical signal output by the
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