CN114396928A - Laser gyro frequency stabilization method and system - Google Patents
Laser gyro frequency stabilization method and system Download PDFInfo
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- CN114396928A CN114396928A CN202111417156.6A CN202111417156A CN114396928A CN 114396928 A CN114396928 A CN 114396928A CN 202111417156 A CN202111417156 A CN 202111417156A CN 114396928 A CN114396928 A CN 114396928A
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- 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
- G01C19/726—Phase nulling gyrometers, i.e. compensating the Sagnac phase shift in a closed loop system
Abstract
The invention relates to a frequency stabilization method and a frequency stabilization system for a laser gyroscope. Firstly, the optical power I in the resonant cavity of the laser gyroscope at the current moment and the previous moment is obtained through an optical power detection unit circuittAnd It‑1And comparing; the control circuit determines the driving voltage M of the left and right micro-displacement regulators on the resonant cavity of the laser gyroscope at the next moment according to the comparison resultL,t+1And MR,t+1. The invention simultaneously and respectively carries out frequency stabilization control on the two micro-displacement regulators, reduces the light path deflection of the laser gyro in the frequency stabilization process caused by the factors of the inconsistency of the driving capability of the two micro-displacement regulators, the inconsistency of the wall thickness of the two high-reflection spherical mirrors, the installation error of the two micro-displacement regulators and the like, can effectively inhibit the additional zero offset and the scale factor instability generated in the working process of the frequency stabilization component, and further can improve the zero offset stability and the scale factor repeatability of the laser gyro.
Description
Technical Field
The invention relates to the technical field of laser gyros, in particular to a frequency stabilizing method and system of a laser gyro.
Background
Laser gyroscopes work based on the Sagnac effect: in the annular light path, two beams of light in clockwise and anticlockwise directions independently run, when the annular light path rotates relative to an inertial space, the clockwise and anticlockwise optical path lengths generate difference, and the rotation angular speed of the annular light path can be obtained by detecting the optical path difference through a photoelectric detector.
The frequency stabilization of the laser gyroscope means that the laser frequency in the resonant cavity of the laser gyroscope is stabilized at a maximum gain point by a certain measure, and the frequency stabilization of the laser gyroscope, namely the cavity length of the resonant cavity is stabilized near an integral multiple of the laser wavelength according to the laser principle.
The laser gyro usually uses two micro-displacement regulators to push the resonant cavity reflecting mirrors to complete the frequency stabilization function, when the distances of the two reflecting mirrors to advance or retreat are different, the annular light path can generate additional rotation, which is represented on the laser gyro by an additional zero offset, so that the two reflecting mirrors need to be controlled to advance or retreat at the same time and in equal step length.
The scale factor of the laser gyroscope is a scale factor of the input angular velocity and the output value of the laser gyroscope, and is one of the most critical parameters of the laser gyroscope, and the determining factor is given by the following formula:
k is a scale factor of the laser gyroscope, A is the area surrounded by the annular light path, L is the optical path length of the annular light path, and lambda is the laser working wavelength of the laser gyroscope.
From the above formula, the length of the ring-shaped optical path of the resonant cavity, the area enclosed by the ring-shaped optical path, and the working wavelength of the laser all have important influences on the scale factor of the laser gyroscope. During the operation of the laser gyroscope, if the scale factor is to be kept stable, the cavity length of the annular light path and the shape of the annular light path are required to be kept stable.
The traditional frequency stabilization method is that two groups of piezoelectric micro-displacement regulators are modulated together through an analog circuit, namely, a high-frequency voltage signal is applied to the micro-displacement regulators to modulate the cavity length of a laser gyro, a photoelectric detector receives light output by a resonant cavity, alternating current light intensity is obtained through band-pass, amplification and summation, then a cavity length control error signal is obtained through demodulation of a phase discriminator and an integrating circuit, and the error signal is stabilized near a zero value through closed-loop control, so that the purpose of stabilizing the cavity length is achieved. The frequency stabilization method for modulating the two groups of micro-displacement regulators together through the analog circuit has the advantages of higher power consumption and weaker anti-interference capability, and the shape of an annular light path cannot be kept stable due to the fact that the displacement driving capability of the two groups of micro-displacement regulators is not completely consistent with the wall thickness of the two high-reflection spherical mirrors, so that the repeatability of a scale factor is reduced and additional zero offset is generated.
Disclosure of Invention
The invention provides a frequency stabilization method and a frequency stabilization system of a laser gyroscope, aiming at the technical problems in the prior art, after determining the driving voltages of a left micro-displacement regulator and a right micro-displacement regulator on a laser gyroscope resonant cavity at the next moment according to the comparison result of the optical power in the laser gyroscope resonant cavity at the current moment and the previous moment, synchronously outputting control signals through two output interfaces, and loading the control signals to the two micro-displacement regulators after the control signals are amplified by a DA converter so as to push a high-reflectivity spherical mirror to adjust the optical path length of the resonant cavity.
The technical scheme for solving the technical problems is as follows:
in a first aspect, the present invention provides a frequency stabilization method for a laser gyroscope, including:
obtaining the optical power I in the resonant cavity of the laser gyroscope at the current moment and the previous momenttAnd It-1And comparing;
determining the driving voltage M of the left and right micro-displacement regulators on the resonant cavity of the laser gyroscope at the next moment according to the comparison resultL,t+1And MR,t+1：
If It＝It-1Then M isL,t+1＝ML,t，MR,t+1＝MR,t；
If It>It-1Then, the first step is executed,
if It<It-1Then, the first step is executed,
in the formula M0Setting the value of the driving voltage, wherein the value range is 0.1-0.3V; Δ MLAnd Δ MRThe mode voltage intervals of the left micro-displacement regulator and the right micro-displacement regulator are respectively; the mode voltage interval refers to a driving voltage difference value corresponding to two adjacent maximum values of the optical power in the resonant cavity of the laser gyroscope when the driving voltage of the micro-displacement regulator is continuously regulated.
Further, the method for acquiring the mode voltage interval includes:
after the laser gyro is started and before the laser gyro enters a formal working state, the driving voltage of the micro-displacement regulator is increased in equal step length, and the optical power in the resonant cavity of the laser gyro is changed periodically;
the change of the optical power in the resonant cavity of the laser gyro is monitored in real time through a photoelectric detector, and the driving voltage M of the micro-displacement regulator corresponding to the optical power reaching the maximum value for the first time and the optical power reaching the maximum value for the last time in the driving voltage regulation process is recordedfirstAnd MendCalculating the mode voltage interval Δ M:
in the formula, N is the frequency of the maximum point of the optical power in the laser gyro resonant cavity.
Furthermore, when the mode voltage interval is obtained, the left micro-displacement regulator and the right micro-displacement regulator are sequentially operated, namely the driving voltage of one micro-displacement regulator is firstly regulated, and after the mode voltage interval is calculated and recorded, the driving voltage of the other micro-displacement regulator is regulated.
Furthermore, after the laser gyro enters a formal working state, the driving voltages of the left micro-displacement regulator and the right micro-displacement regulator are synchronously regulated.
In a second aspect, the invention provides a laser gyro frequency stabilization system, which comprises a laser gyro resonant cavity, an optical power detection unit circuit, a control circuit and two micro-displacement regulators, wherein the laser gyro resonant cavity is provided with a first micro-displacement regulator and a second micro-displacement regulator;
the optical power detection unit circuit is arranged in the laser gyro resonant cavity and used for detecting the optical power in the resonant cavity and sending the optical power to the control circuit;
the control circuit is respectively electrically connected with the optical power detection unit circuit and the two micro-displacement regulators and is used for comparing the optical power I in the resonant cavity of the laser gyroscope at the current moment and the previous momenttAnd It-1And determining the driving voltage M of the left and right micro-displacement regulators on the resonant cavity of the laser gyroscope at the next moment according to the comparison resultL,t+1And MR,t+1：
If It＝It-1Then M isL,t+1＝ML,t，MR,t+1＝MR,t；
If It>It-1Then, then
If It<It-1Then, then
In the formula M0Setting the value of the driving voltage, wherein the value range is 0.1-0.3V; Δ MLAnd Δ MRThe mode voltage intervals of the left micro-displacement regulator and the right micro-displacement regulator are respectively; the mode voltage interval refers to a driving voltage difference value corresponding to two adjacent maximum values of the optical power in the resonant cavity of the laser gyroscope when the driving voltage of the micro-displacement regulator is continuously regulated.
Furthermore, the laser gyro resonant cavity comprises a microcrystalline glass cavity, two high-reflection spherical mirrors and two semi-transparent semi-reflection plane mirrors; the two high-reflection spherical mirrors and the two semi-transparent semi-reflective plane mirrors are arranged at four corners of the microcrystalline glass cavity, the central axes of the two high-reflection spherical mirrors and the central axes of the two semi-transparent semi-reflective plane mirrors are intersected, and the intersection point is positioned at the center of the microcrystalline glass cavity; the two micro-displacement regulators are respectively arranged on the two high-reflection spherical mirrors, and the length of the resonant cavity light path is adjusted by pushing the high-reflection spherical mirrors so as to stabilize the light path at a specific length.
Furthermore, the optical power detection unit circuit comprises a power detection prism, a photoelectric detector and a preamplifier, the power detection prism is optically glued on one of the semi-transparent semi-reflective plane mirrors, the photoelectric detector is connected with the power detection prism and monitors real-time optical power in the resonant cavity through the power detection prism, and the collected optical power signal is amplified through the preamplifier and then sent to the control circuit.
Furthermore, the control circuit comprises an FPGA control module, the FPGA control module comprises one input interface and two output interfaces, and the optical power signal output by the optical power detection unit circuit is converted into a digital signal by an AD converter and then is sent to the FPGA control module through the input interface; the FPGA control module determines the driving voltages of a left micro-displacement regulator and a right micro-displacement regulator on the laser gyro resonant cavity at the next moment according to the comparison result of the optical power in the laser gyro resonant cavity at the current moment and the previous moment, and then synchronously outputs control signals through two output interfaces, and the control signals are amplified by a DA converter and then loaded on the two micro-displacement regulators so as to push the high-reflectivity spherical mirror to adjust the length of the resonant cavity optical path.
In a third aspect, the present invention provides an electronic device comprising:
a memory for storing a computer software program;
and the processor is used for reading and executing the computer software program so as to further realize the frequency stabilization method of the laser gyro in the first aspect of the invention.
In a fourth aspect, the present invention provides a non-transitory computer readable storage medium, in which a computer software program for implementing a method for frequency stabilization of a laser gyro according to the first aspect of the present invention is stored.
The invention has the beneficial effects that: firstly, because the two micro-displacement regulators are simultaneously and respectively subjected to frequency stabilization control, the deflection of a resonant cavity light path in the frequency stabilization process of the laser gyro caused by factors such as the inconsistency of the driving capability of the two micro-displacement regulators, the inconsistency of the wall thickness of two high-reflection spherical mirrors, the installation error of the two micro-displacement regulators and the like is reduced, the additional zero offset and the instability of scale factors generated in the working process of a frequency stabilization component can be effectively inhibited, and the zero offset stability and the repeatability of scale factors of the laser gyro can be improved; secondly, the frequency stabilization control is carried out on the laser gyro by using the digital circuit, and compared with an analog frequency stabilization circuit, the frequency stabilization control circuit is simple in structure, stable, reliable, strong in anti-interference capability and small in power consumption;
drawings
Fig. 1 is a schematic structural diagram of a frequency stabilization system of a laser gyro according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a frequency stabilization method for a laser gyro according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to the present invention;
fig. 4 is a schematic structural diagram of a computer-readable storage medium according to the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the micro-crystal glass device comprises a micro-crystal glass cavity, 2, a micro-displacement regulator, 3, a micro-displacement regulator, 4, a high-reflection spherical mirror, 5, a high-reflection spherical mirror, 6, a semi-transparent semi-reflection plane mirror, 7, a semi-transparent semi-reflection plane mirror, 8, a power detection prism, 9, a photoelectric detector, 10, a preamplifier, 11, an AD converter, 12, an FPGA control module, 13, a DA converter, 14, a DA converter, 15, a voltage amplifier, 16 and a voltage amplifier.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a digital frequency stabilization system of a laser gyro according to an embodiment of the present invention. In the figure, the system is composed of a laser gyro resonant cavity, two micro-displacement regulators 2/3, an optical power detection unit circuit and a control circuit.
The laser gyro resonant cavity comprises a microcrystalline glass cavity 1, two semi-transparent semi-reflective plane mirrors 6/7 and two high-reflectivity spherical mirrors 4/5. The two micro-displacement adjusters 2/3 are fixedly mounted on the periphery of the two high-reflectivity spherical mirrors 4/5, the micro-displacement adjusters are piezoelectric devices, different voltages are applied to the micro-displacement adjusters, and the micro-displacement adjusters can push the high-reflectivity spherical mirrors to generate displacements of different degrees, so that the cavity length of the annular resonant cavity is changed.
The optical power detection unit circuit includes a power detection prism 8, a photodetector 9, and a preamplifier 10.
The power detection prism 8 is optically glued on the semi-transparent semi-reflective plane mirror 7 and is used for supporting the photoelectric detector 9. The photoelectric detector 9 monitors real-time optical power in the resonant cavity through the power detection prism 8, and then amplifies the collected optical power signal through the preamplifier 10 and sends the amplified optical power signal to the control circuit.
The control circuit includes an AD converter 11, an FPGA control module 12, two DA converters 13/14, and two voltage amplifiers 15/16. The AD converter 11 is configured to convert an optical power signal in the laser gyro resonant cavity output by the optical power detection unit circuit into a digital signal and input the digital signal to the FPGA control module 12. The FPGA control module 12 determines the driving voltages of the left and right micro-displacement adjusters 2/3 on the laser gyro resonant cavity at the next moment according to the comparison result of the optical powers in the laser gyro resonant cavity at the current moment and the previous moment, and then synchronously outputs two driving voltages through two output interfaces, and the two driving voltages are amplified by the DA converters and then loaded on the two micro-displacement adjusters to push the high-reflectivity spherical mirror to adjust the length of the resonant cavity optical path.
Based on the system, the embodiment of the invention also provides a frequency stabilization method for the laser gyroscope, and fig. 2 is a schematic flow chart of the method. As shown in fig. 2, the method comprises the following specific steps:
and S1, after the laser gyro is started, obtaining the characteristic quantity of the driving capability of the two micro-displacement regulators, namely the mode voltage interval, by utilizing a single-side mode sweeping method.
Single-side mold sweeping method: firstly, increasing voltage in equal step length, driving a micro-displacement regulator to gradually push a high-reflection spherical mirror, and then the optical power in the laser gyro resonant cavity is periodically changed. The optical power of the laser gyro resonant cavity can be monitored in real time through a photoelectric detector; then, the optical power signal of the photoelectric detector is amplified and AD converted and then input into an FPGA control module, and the FPGA control module calculates the mode voltage interval of the micro-displacement regulator by an extreme point corresponding method and stores the mode voltage interval in an FPGA digital circuit;
extreme point correspondence method: defining the driving signal of the micro-displacement regulator corresponding to the maximum optical power in the resonant cavity of the laser gyroscope when the optical power reaches the maximum value for the first time in the unilateral mode sweeping process as Mfirst(ii) a Defining the driving signal of the micro-displacement regulator corresponding to the last time when the optical power in the resonant cavity of the laser gyro reaches the maximum value in the unilateral mode sweeping process as Mend(ii) a And defining the frequency of the maximum point of the optical power in the laser gyro resonant cavity in the unilateral mode sweeping process as N. The mode voltage interval Δ M of the micro-displacement modulatorL：
S2, obtaining the mode voltage interval Δ M of another micro-displacement regulator according to the step S1R；
S3, the laser gyro enters a formal working state, the photoelectric detector monitors the light power in the resonant cavity of the laser gyro in real time, the light power signal is amplified and AD converted and then input into the FPGA digital circuit, the FPGA digital circuit determines to increase or decrease the driving voltage signal of the micro-displacement regulator through a comparison method, and the mode voltage interval delta M of the two micro-displacement regulators obtained in the steps 1 and 2 is obtained according to the mode voltage interval delta M of the two micro-displacement regulators obtained in the steps 2LAnd Δ MRSimultaneously, respectively and proportionally calculating driving voltage signals of the two micro-displacement regulators, and simultaneously inputting the two driving voltage signals to the two micro-displacement regulators after DA conversion and voltage amplification respectively so as to stabilize the optical power in the resonant cavity of the laser gyroscope to be maximumThe value is obtained.
Comparison method: setting the driving voltage of the micro-displacement regulator L at the previous moment as ML,t-1The driving voltage of the micro-displacement regulator R is MR,t-1The corresponding optical power in the laser gyro resonant cavity is It-1(ii) a The L driving voltage of the micro-displacement regulator at the current moment is ML,tThe micro-displacement regulator R has a driving voltage of MR,tThe corresponding optical power in the laser gyro resonant cavity is ItComparison It-1And ItDetermining the driving voltage M of the micro-displacement regulator L and the micro-displacement regulator R at the next momentL,t+1、MR,t+1The method comprises the following steps:
if It＝It-1Then M isL,t+1＝ML,t，MR,t+1＝MR,t；
If It>It-1Then, then
If It<It-1Then, then
In the formula M0The value range is 0.1-0.3V for the drive voltage.
According to the invention, because the two micro-displacement regulators are simultaneously and respectively subjected to frequency stabilization control, the deflection of the light path of the resonant cavity in the frequency stabilization process caused by factors such as the inconsistency of the driving capability of the two micro-displacement regulators, the inconsistency of the wall thickness of the two high-reflection spherical mirrors, the installation error of the two micro-displacement regulators and the like of the laser gyroscope is reduced, the additional zero offset and the instability of scale factors generated in the working process of a frequency stabilization component can be effectively inhibited, and the zero offset stability and the scale factor repeatability of the laser gyroscope can be further improved; meanwhile, the frequency stabilization control is carried out on the laser gyro by using the digital circuit, and compared with an analog frequency stabilization circuit, the frequency stabilization control circuit is simple in structure, stable and reliable, strong in anti-interference capability and small in power consumption.
Referring to fig. 3, fig. 3 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 3, an embodiment of the present invention provides an electronic device, which includes a memory 510, a processor 520, and a computer program 511 stored in the memory 520 and executable on the processor 520, wherein the processor 520 executes the computer program 511 to implement the following steps:
obtaining the optical power I in the resonant cavity of the laser gyroscope at the current moment and the previous momenttAnd It-1And comparing;
determining the driving voltage M of the left and right micro-displacement regulators on the resonant cavity of the laser gyroscope at the next moment according to the comparison resultL,t+1And MR,t+1：
If It＝It-1Then M isL,t+1＝ML,t，MR,t+1＝MR,t；
If It>It-1Then, then
If It<It-1Then, then
In the formula M0The value range is 0.1-0.3V for the drive voltage.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 4, the present embodiment provides a computer-readable storage medium 600 having a computer program 611 stored thereon, the computer program 611, when executed by a processor, implementing the steps of:
obtaining the optical power I in the resonant cavity of the laser gyroscope at the current moment and the previous momenttAnd It-1And comparing;
determining the driving voltage M of the left and right micro-displacement regulators on the resonant cavity of the laser gyroscope at the next moment according to the comparison resultL,t+1And MR,t+1：
If It＝It-1Then M isL,t+1＝ML,t，MR,t+1＝MR,t；
If It>It-1Then, then
If It<It-1Then, then
In the formula M0The value range is 0.1-0.3V for the drive voltage.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A frequency stabilization method for a laser gyroscope is characterized by comprising the following steps:
obtaining the optical power I in the resonant cavity of the laser gyroscope at the current moment and the previous momenttAnd It-1And comparing;
determining the driving voltage M of the left and right micro-displacement regulators on the resonant cavity of the laser gyroscope at the next moment according to the comparison resultL，t+1And MR，t+1：
If It＝It-1Then M isL，t+1＝ML，t，MR，t+1＝MR，t；
If It＞It-1Then, then
If It＜It-1Then, then
In the formula M0Setting the value of the driving voltage, wherein the value range is 0.1-0.3V; Δ MLAnd Δ MRThe mode voltage intervals of the left micro-displacement regulator and the right micro-displacement regulator are respectively; the mode voltage interval refers to a driving voltage difference value corresponding to two adjacent maximum values of the optical power in the resonant cavity of the laser gyroscope when the driving voltage of the micro-displacement regulator is continuously regulated.
2. The method of claim 1, wherein the obtaining of the mode voltage interval comprises:
after the laser gyro is started and before the laser gyro enters a formal working state, the driving voltage of the micro-displacement regulator is increased in equal step length, and the optical power in the resonant cavity of the laser gyro is changed periodically;
the change of the optical power in the resonant cavity of the laser gyro is monitored in real time through a photoelectric detector, and the driving voltage M of the micro-displacement regulator corresponding to the optical power reaching the maximum value for the first time and the optical power reaching the maximum value for the last time in the driving voltage regulation process is recordedfirstAnd MendCalculating the mode voltage interval Δ M:
in the formula, N is the frequency of the maximum point of the optical power in the laser gyro resonant cavity.
3. The method of claim 2, wherein the left and right micro-displacement actuators are sequentially operated to obtain the mode voltage interval, i.e. the driving voltage of one micro-displacement actuator is first adjusted, and the driving voltage of the other micro-displacement actuator is adjusted after the mode voltage interval is calculated and recorded.
4. The method of claim 1, wherein the driving voltages of the left and right micro-displacement regulators are synchronously regulated after the laser gyro enters a normal working state.
5. A laser gyro frequency stabilization system is characterized by comprising a laser gyro resonant cavity, an optical power detection unit circuit, a control circuit and two micro-displacement regulators;
the optical power detection unit circuit is arranged in the laser gyro resonant cavity and used for detecting the optical power in the resonant cavity and sending the optical power to the control circuit;
the control circuit is respectively electrically connected with the optical power detection unit circuit and the two micro-displacement regulators and is used for comparing the optical power I in the resonant cavity of the laser gyroscope at the current moment and the previous momenttAnd It-1And determining the driving voltage M of the left and right micro-displacement regulators on the resonant cavity of the laser gyroscope at the next moment according to the comparison resultL，t+1And MR，t+1：
If It＝It-1Then M isL，t+1＝ML，t，MR，t+1＝MR，t；
If It＞It-1Then, then
If It＜It-1Then, then
In the formula M0Setting the value of the driving voltage, wherein the value range is 0.1-0.3V; Δ MLAnd Δ MRThe mode voltage intervals of the left micro-displacement regulator and the right micro-displacement regulator are respectively; the mode voltage interval refers to a driving voltage difference value corresponding to two adjacent maximum values of the optical power in the resonant cavity of the laser gyroscope when the driving voltage of the micro-displacement regulator is continuously regulated.
6. The system of claim 5, wherein the laser gyro resonant cavity comprises a microcrystalline glass cavity, two highly reflective spherical mirrors and two semi-transparent semi-reflective plane mirrors; the two high-reflection spherical mirrors and the two semi-transparent semi-reflective plane mirrors are arranged at four corners of the microcrystalline glass cavity, the central axes of the two high-reflection spherical mirrors and the central axes of the two semi-transparent semi-reflective plane mirrors are intersected, and the intersection point is positioned at the center of the microcrystalline glass cavity; the two micro-displacement regulators are respectively arranged on the two high-reflection spherical mirrors, and the length of the resonant cavity light path is adjusted by pushing the high-reflection spherical mirrors so as to stabilize the light path at a specific length.
7. The system according to claim 6, wherein the optical power detection unit circuit comprises a power monitoring prism, a photodetector and a preamplifier, the power monitoring prism is optically bonded on one of the semi-transparent semi-reflective plane mirrors, the photodetector is connected with the power monitoring prism and monitors real-time optical power in the resonant cavity through the power monitoring prism, and a collected optical power signal is amplified through the preamplifier and then sent to the control circuit.
8. The system of claim 7, wherein the control circuit comprises an FPGA control module, the FPGA control module comprises one input interface and two output interfaces, and the optical power signal output by the optical power detection unit circuit is converted into a digital signal by an AD converter and then sent to the FPGA control module through the input interface; the FPGA control module determines the driving voltages of a left micro-displacement regulator and a right micro-displacement regulator on the laser gyro resonant cavity at the next moment according to the comparison result of the optical power in the laser gyro resonant cavity at the current moment and the previous moment, and then synchronously outputs control signals through two output interfaces, and the control signals are amplified by a DA converter and then loaded on the two micro-displacement regulators so as to push the high-reflectivity spherical mirror to adjust the length of the resonant cavity optical path.
9. An electronic device, comprising:
a memory for storing a computer software program;
a processor for reading and executing the computer software program to realize a frequency stabilization method of a laser gyro according to any one of claims 1 to 4.
10. A non-transitory computer readable storage medium, wherein the storage medium stores therein a computer software program for implementing a laser gyro frequency stabilization method according to any one of claims 1 to 4.
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