CN114705175B - Light combination and direct current frequency stabilization control integrated device of laser gyro readout optical system - Google Patents
Light combination and direct current frequency stabilization control integrated device of laser gyro readout optical system Download PDFInfo
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- CN114705175B CN114705175B CN202210571629.6A CN202210571629A CN114705175B CN 114705175 B CN114705175 B CN 114705175B CN 202210571629 A CN202210571629 A CN 202210571629A CN 114705175 B CN114705175 B CN 114705175B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/66—Ring laser gyrometers
- G01C19/661—Ring laser gyrometers details
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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
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Abstract
The invention provides a light combination and direct current frequency stabilization control integrated device of a laser gyro readout optical system, which comprises a composite prism, an alternating current photoelectric tube and a direct current photoelectric tube, wherein a first surface of the composite prism is adhered to an output lens and used for changing a light path, a first path of light of a laser enters the direct current photoelectric tube through a part behind the composite prism so as to detect the change of a laser gain curve and realize the control of direct current frequency stabilization, and the other part of the first path of light and a second path of light of the laser are combined in the composite prism and enter the alternating current photoelectric tube so as to realize the acquisition of angular velocity. The laser gyro can realize the perfect combination of the reading optical system combined light and the direct current frequency stabilization system light intensity measurement by means of the arrangement of the composite prism, the direct current photoelectric tube and the alternating current photoelectric tube, simultaneously has the same processing difficulty as that of the original light combined prism, has unchanged assembly difficulty of photoelectric detection elements in the reading optical system and the direct current frequency stabilization system, and effectively improves the frequency stabilization control of the laser gyro.
Description
Technical Field
The invention relates to the technical field of laser gyros, in particular to a light combination and direct current frequency stabilization control integrated device of a laser gyro reading optical system.
Background
The laser gyro generally comprises a laser, a frequency stabilization system, a light intensity stabilization system, a frequency offset system and a readout optical system. The optical system for reading out is composed of light-combining prism and photoelectric two-quadrant detector. The combined light is combined in the same direction with included angle being only angle component magnitude, so that two laser beams generate interference fringes, the intensity of the two light beams is basically equal when combined through a proper semi-transparent semi-reflecting light splitting film, the intensity change of the interference fringes is detected by a photoelectric detector, and the frequency difference information corresponding to the angular speed change of the gyroscope is converted into light fringe information capable of being directly measured.
The purpose of the frequency stabilization system is to enable laser to work in a single longitudinal mode traveling wave state in a mode of stabilizing the cavity length of the laser gyroscope. Meanwhile, stable bidirectional traveling wave oscillation is formed in the laser without the competition of the opposite traveling wave mode, and stable output power is obtained. And (3) controlling the expansion and contraction of the piezoelectric ceramic by adopting an electronic circuit according to the change of the gain curve of the laser in the cavity of the laser gyro detected by the photoelectric detector. The laser gyro frequency stabilization mode includes a direct current frequency stabilization mode and an alternating current frequency stabilization mode. The direct current frequency stabilization is a mature frequency stabilization scheme at present, and a direct current frequency stabilization control scheme which is generally adopted at home and abroad.
The design of the AC frequency stabilization system of the laser gyroscope dithered by the spatial triaxial machine researches the AC frequency stabilization control method of the laser gyroscope dithered by the spatial triaxial machine, simulates and optimizes PID control parameters, and obtains better frequency stabilization control system response. The laser gyro alternating current frequency stabilization is to take out a direct current light intensity signal from a stripe output signal to perform frequency stabilization control, the stripe output signal comprises a laser beat frequency signal, a mechanical jitter signal, a small grabbing card jitter and other signals, the components are various, the frequency is rich, if the laser gyro alternating current frequency stabilization is used for frequency stabilization, filtering processing is needed, time delay of a circuit and software is brought, the design requirements of the circuit and the software are increased, and the power consumption and the volume of the circuit are increased. The frequency stabilization signal obtained by direct current frequency stabilization is high in signal-to-noise ratio, single in frequency and free of time delay, and high-speed acquisition and accurate control of the frequency stabilization signal of the laser gyroscope can be achieved, so that the overall accuracy of the zero offset stability of the laser gyroscope is guaranteed and improved.
The frequency stabilization scheme provided by the research on the frequency stabilization method of the spatial triaxial laser gyro is to perform detailed and deep analysis on the basis of frequency stabilization of the uniaxial laser gyro, perform equivalent transformation on a frequency stabilization loop of the spatial triaxial laser gyro, decompose the frequency stabilization loop into three frequency stabilization loops of the uniaxial laser gyro, and realize frequency stabilization by using the frequency stabilization method of the uniaxial laser gyro. The literature is silent about how the required laser light can be extracted from a laser gyro.
It should be noted that the above background description is only for the convenience of clear and complete description of the technical solutions of the present application and for the understanding of those skilled in the art. These solutions are not considered to be known to the person skilled in the art merely because they are set forth in the background section of the present application.
Disclosure of Invention
The purpose of the invention is: aiming at the defects existing in the background technology, the scheme of applying the mature direct current frequency stabilization technology to various laser gyros such as a triangular gyro and a space three-axis gyro is provided, so that the frequency stabilization control of the laser gyro is simpler and more effective.
In order to achieve the above object, the present invention provides an integrated device for light combination and dc frequency stabilization control of a laser gyro readout optical system, including a composite prism, an ac phototube and a dc phototube, wherein a first surface of the composite prism is bonded on an output lens for changing a light path, a first path of light of a laser enters the dc phototube through a rear part of the composite prism to detect a laser gain curve change, so as to realize control of dc frequency stabilization, and another part of the first path of light is combined with a second path of light of the laser in the composite prism, and enters the ac phototube, so as to realize acquisition of angular velocity.
Further, the composite prism comprises a second surface and a third surface, the alternating current photoelectric tube is in butt joint with the second surface of the composite prism, and the direct current photoelectric tube is in butt joint with the third surface of the composite prism.
Furthermore, the alternating current photoelectric tube is bonded on the second surface, the direct current photoelectric tube is bonded on the frequency stabilization photoelectric tube seat, and the frequency stabilization photoelectric tube seat is bonded with the third surface.
Further, the second surface and the third surface of the composite prism are perpendicular to each other.
Further, the included angle precision of the second surface and the third surface of the composite prism is within the range of +/-5 ″.
Furthermore, the value of the included angle between the third surface and the output lens meets the condition that the incident angle of the third surface is smaller than the critical angle, so that the laser can generate reflection and refraction on the third surface.
Furthermore, the first surface, the second surface and the third surface are respectively provided with a first coating area, a second coating area and a third coating area, the first coating area and the third coating area are provided with a semi-transparent semi-reflective film, and the second coating area is provided with a fully-reflective film.
Furthermore, the frequency stabilization photoelectric tube seat adopts a right-angle wedge-shaped structure.
The scheme of the invention has the following beneficial effects:
the light combination and direct current frequency stabilization control integrated device of the laser gyro readout optical system provided by the invention can realize the perfect combination of the readout optical system light combination and the direct current frequency stabilization system light intensity measurement by means of the arrangement of the composite prism, the direct current photoelectric tube and the alternating current photoelectric tube, the processing difficulty is the same as that of the original light combination prism, the assembly difficulty of photoelectric detection elements in the readout optical system and the direct current frequency stabilization system is unchanged, the frequency stabilization control of the laser gyro is effectively improved, and the device is suitable for a space three-axis laser gyro and the like;
other advantages of the present invention will be described in detail in the detailed description that follows.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic diagram of the present invention mounted on a spatial triaxial laser gyro.
[ instruction of reference ]
1-a compound prism; 2-alternating current phototube; 3-frequency stabilization photoelectric tube seat; 4-a direct current photocell; 5-output lens; 6-first side; 7-a second face; 8-a third face; 9-a first coating area; 10-a second coating area; 11-a third coating area; 12-resonant cavity.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be understood broadly, for example, as being either a locked connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention relates to the technical field of laser gyroscopes, and aims to stabilize the frequency of a laser gyroscope, namely, to enable the laser to work in a single longitudinal mode traveling wave state in a mode of stabilizing the cavity length of the laser gyroscope. Meanwhile, stable bidirectional traveling wave oscillation is formed in the laser without the competition of opposite traveling wave modes, stable output power is obtained, and the electronic circuit is adopted to control the expansion and contraction of the piezoelectric ceramic according to the change of a gain curve of laser in the cavity of the laser gyro detected by the photoelectric detector. The laser gyro frequency stabilization mode comprises a direct current frequency stabilization mode and an alternating current frequency stabilization mode, wherein the direct current frequency stabilization is a mature frequency stabilization scheme at present and a direct current frequency stabilization control scheme which is generally adopted at home and abroad. Based on this, example 1 of the present invention provides a specific scheme for extracting a desired laser from a laser gyro.
As shown in fig. 1, embodiment 1 of the present invention provides an integrated device for integrating light and dc frequency stabilization control of a laser gyro readout optical system, which includes a composite prism 1, an ac photoelectric tube 2, a frequency stabilization photoelectric tube base 3, and a dc photoelectric tube 4. The first surface 6 of the composite prism 1 is adhered to the output lens 5, the alternating current photoelectric tube 2 is adhered to the second surface 7 of the composite prism 1, and the composite prism 1 and the alternating current photoelectric tube 2 form a light combination module of the readout optical system. The frequency stabilization photoelectric tube seat 3 is adhered to the third surface 8 of the composite prism 1, the direct current photoelectric tube 4 is adhered to the frequency stabilization photoelectric tube seat 3, and the composite prism 1, the frequency stabilization photoelectric tube seat 3 and the direct current photoelectric tube 4 form a light intensity measuring module for direct current frequency stabilization control. The frequency-stabilized photoelectric tube base 3 is designed to make the laser refracted from the third surface 8 strike the photosensitive surface of the dc photoelectric tube 4 substantially perpendicularly, that is, the bonding surface of the bonded dc photoelectric tube 4 is kept substantially perpendicular to the refracted laser.
In this embodiment, the second surface 7 and the third surface 8 of the composite prism 1 are perpendicular to each other, and the processing precision of the angle needs to be strictly controlled within a range of 90 ° ± 5 ″, so as to ensure that a part of the a-path light is reflected for multiple times and then emitted perpendicularly from the second surface 8, so that A, B two paths of laser light are combined in the same direction and perpendicularly hit on the photosensitive surface of the ac photoelectric cell 2.
In this embodiment, the value of the θ angle satisfies that the incident angle of the third surface 8 is smaller than the critical angle, so that the laser beam is reflected and refracted on the third surface 8.
In order to distribute the optical paths inside the composite prism 1 according to a preset path, in this embodiment, a first coating region 9, a second coating region 10, and a third coating region 11 are disposed on the composite prism 1. Wherein, the first coating area 9 and the third coating area 11 are provided with a semi-transparent and semi-reflective film, and the second coating area 10 is provided with a total-reflective film.
Therefore, the path A light in the laser passes through the output lens 5 and the composite prism 1 and then strikes the third coating region 11 on the third surface 8 of the composite prism 1, and passes through the semi-transparent semi-return film, and a part of the laser refracts to enter the through hole of the frequency stabilization photoelectric tube seat 3, so as to strike the photosensitive surface of the direct current photoelectric tube 4, thereby detecting the change of the gain curve of the laser in the cavity of the laser gyro, controlling the extension of the piezoelectric ceramic and realizing the control of direct current frequency stabilization.
And the other part of the laser is reflected to the second coating area 10, reflected by the second coating area 10 and the first coating area 9, and finally hits on the photosensitive surface of the ac photoelectric tube 2. By adjusting the position, the angle and the like of the composite prism 1, A, B two paths of laser light which runs in the laser in the positive and negative directions are merged to the same direction with the included angle being only the angular diversity order, and the two paths of laser light with small included angle are made to strike on the photosensitive surface of the alternating current photoelectric tube 2 to generate interference fringes. The photoelectric detector detects intensity change of the interference fringes and converts frequency difference information corresponding to angular velocity change of the gyroscope into light fringe information which can be directly measured, so that angular velocity and the like are obtained.
By adopting the device provided by the embodiment, the perfect combination of the reading optical system light combining light and the direct current frequency stabilization system light intensity measurement can be realized, the processing difficulty is the same as that of the original light combining prism, and the assembly difficulty of the photoelectric detection elements in the reading optical system and the direct current frequency stabilization system is not changed.
In other embodiments, the structure of the composite prism 1 can be adjusted, as long as a part of the light of the path a is refracted to enter the through hole of the frequency stabilization photocell seat 3 and hit on the photosensitive surface of the direct current photocell 4, and another part of the light of the path a is combined with the light of the path B by the preset light path and hit on the photosensitive surface of the alternating current photocell 2 to generate interference fringes, so that the intensity change of the interference fringes can be detected by the photodetector, and the angular velocity can be obtained.
Example 2:
as shown in fig. 2, embodiment 2 of the present invention provides a specific solution applied to frequency stabilization of a spatial three-axis laser gyroscope, and the apparatus in embodiment 1 is installed at three receiving ends of a resonant cavity 12.
For each device, it is associated with two sets of optical paths in the resonant cavity 12, and after performing equivalent transformation according to the corresponding relationship of frequency stabilization control, frequency stabilization can be performed by using the frequency stabilization method of the single-axis laser gyro, thereby realizing frequency stabilization of the spatial three-axis laser gyro ("frequency stabilization method research of the spatial three-axis laser gyro", zhang gang, etc., navigation positioning and time service, second volume, fourth phase, pages 63-66, and month 7 in 2015).
In addition, in the embodiment, the frequency-stabilizing photoelectric tube seats 3 of the devices also adopt right-angle wedge-shaped structures, and are better attached to the composite prism 1, so that the overall structure is more compact. Of course, this embodiment also does not limit the frequency-stabilized optical-electrical tube holder 3 to be a right-angled wedge-shaped structure, and other forms that can make the entire structure compact can be adopted.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. A light combination and direct current frequency stabilization control integrated device of a laser gyro readout optical system is characterized by comprising a composite prism, an alternating current photoelectric tube and a direct current photoelectric tube, wherein a first surface of the composite prism is bonded on an output lens and used for changing a light path, a first path of light of a laser enters the direct current photoelectric tube through a part behind the composite prism so as to detect the change of a laser gain curve and realize the control of direct current frequency stabilization, and the other part of the first path of light and a second path of light of the laser are combined in the composite prism and enter the alternating current photoelectric tube so as to realize the acquisition of angular velocity;
the composite prism comprises a second surface and a third surface, the alternating current photoelectric tube is in butt joint with the second surface of the composite prism, and the direct current photoelectric tube is in butt joint with the third surface of the composite prism;
the second surface and the third surface of the composite prism are arranged perpendicular to each other;
the first surface, the second surface and the third surface are respectively provided with a first coating area, a second coating area and a third coating area, the first coating area and the third coating area are respectively provided with a semi-transparent semi-reflective film, and the second coating area is provided with a fully-reflective film.
2. The integrated device for integrating light combining and direct current frequency stabilization control of the laser gyro readout optical system according to claim 1, wherein the alternating current photocell is bonded to the second surface, the direct current photocell is bonded to a frequency stabilization photocell holder, and the frequency stabilization photocell holder is bonded to the third surface.
3. The integrated device for light combination and direct current frequency stabilization control of the readout optical system of the laser gyro as claimed in claim 1, wherein the precision of an included angle between the second surface and the third surface of the composite prism is within a range of ± 5 ".
4. The light combining and direct-current frequency stabilization control integrated device of the laser gyro reading optical system according to claim 1, wherein a value of an included angle between the third surface and the output lens satisfies that an incident angle of the third surface is smaller than a critical angle, so that laser light is reflected and refracted on the third surface.
5. The integrated device for light combination and direct-current frequency stabilization control of the laser gyro readout optical system according to claim 2, wherein the frequency stabilization photoelectric tube seat adopts a right-angled wedge-shaped structure.
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