CN114812605A - Method and device for inhibiting periodic pulse errors of micrometer sensor - Google Patents

Method and device for inhibiting periodic pulse errors of micrometer sensor Download PDF

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CN114812605A
CN114812605A CN202210333456.4A CN202210333456A CN114812605A CN 114812605 A CN114812605 A CN 114812605A CN 202210333456 A CN202210333456 A CN 202210333456A CN 114812605 A CN114812605 A CN 114812605A
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sensor
frequency domain
compensation filter
periodic pulse
wave driving
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滕飞
李勇
赵亚飞
张宇飞
张智昊
周晓娜
王晶
崔斌
田亚男
梁晓阳
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Beijing Institute of Control Engineering
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • 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

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Abstract

A method and a device for suppressing the periodic pulse error of a micrometer sensor comprise a set of ultrahigh frequency acquisition equipment and a corresponding frequency domain compensation filter. And (3) acquiring the step wave driving signal of the micrometer sensor and the sensor output signal in real time by using ultrahigh frequency acquisition equipment. And (3) taking the step wave driving signal as an IIR filter input signal, taking a sensor output signal as an IIR filter output signal, and solving an IIR filter transfer function. And solving an inverse function of the obtained transfer function to obtain the frequency domain compensation filter. The step wave driving signal is processed by the frequency domain compensation filter and then drives the waveguide, so that the non-ideal frequency domain response caused by insufficient waveguide bandwidth can be compensated, the effective suppression of the periodic pulse error is realized, the method is simple, and the error suppression effect is good.

Description

Method and device for inhibiting periodic pulse errors of micrometer sensor
Technical Field
The invention relates to a method and a device for inhibiting periodic pulse errors of a micrometer sensor, which can inhibit the periodic pulse errors of the micrometer sensor and belong to the technical field of fiber optic gyroscopes.
Background
The fiber-optic gyroscope is widely applied to a space system at present due to the characteristics of all solid state, high reliability, high precision and the like, and a basic principle block diagram of the fiber-optic gyroscope is shown in fig. 2. The traditional fiber-optic gyroscope is mostly applied to detecting low-frequency scenes with the bandwidth lower than 10 Hz. Because the detection bandwidth is low, the high-frequency interference is outside the detection bandwidth, and the performance of the gyroscope is not influenced. With the improvement of the imaging precision of the remote sensing satellite, the demand for the measurement of the micro-vibration of the satellite is increased. The micro-measuring sensor is a novel fiber-optic gyroscope with a detection bandwidth larger than 1KHz, and can realize precise measurement of satellite high-frequency micro-vibration. Along with the increase of the detection bandwidth, the high-frequency interference outside the detection bandwidth of the original fiber-optic gyroscope can generate larger influence on the precision of the micrometer sensor. Fig. 1 shows the high-frequency output data of the micrometer sensor, and it can be seen from the data that the high-frequency output of the micrometer sensor has periodic pulse errors. The reason for generating the periodic pulse error is that the waveguide modulation bandwidth is insufficient, and the modulation signal cannot be responded to in time at the stepped wave reset position, so that a longer transition process exists at the stepped wave reset position in the gyroscope output, which is reflected in a time domain as the pulse error shown in fig. 1. In the traditional fiber-optic gyroscope, the pulse error is filtered out due to the low signal bandwidth, and the pulse error has no influence on the pulse error. However, the detection bandwidth of the micrometer sensor is wide and cannot be filtered, and the pulse error has a great influence on the precision of the micrometer sensor. The most direct method for solving the problem of insufficient waveguide bandwidth is to improve the waveguide bandwidth by optimizing a waveguide scheme and a manufacturing process, but the most direct method is limited by domestic technology and process level, and the waveguide bandwidth cannot be further improved at present. The pulse error can be filtered by directly filtering the output of the micrometer sensor. But because the pulse error frequency is the same as the step wave reset frequency, the frequency changes along with the input of different angular speeds, and the full-frequency band range of 0.1Hz to 10KHz can be covered. On one hand, the characteristic that the error frequency is variable cannot be filtered through a fixed filter, and on the other hand, the filter can be used for filtering useful information to be measured at the filtering frequency of the filter, so that the use of a product is influenced.
Disclosure of Invention
The invention solves the technical problems that: the method and the device for suppressing the periodic pulse error in the micrometer sensor overcome the defect that the prior art cannot suppress the periodic pulse error in the micrometer sensor, and provide a suppression method and a suppression device based on frequency domain compensation.
The technical scheme of the invention is as follows: a method for suppressing periodic pulse errors of a micrometer sensor comprises the following steps:
step 1: collecting a step wave driving signal and a sensor output signal of the micrometer sensor in each closed loop period;
step 2: step wave driving signals of each closed loop period acquired in the step 1 are used as input, sensor output signals are used as output, and an IIR filter is used as a waveform to solve a transfer function;
and step 3: performing an inverse function on the IIR filter transfer function obtained in the step (2) to obtain a frequency domain compensation filter;
and 4, step 4: and the step wave driving signal is processed by a frequency domain compensation filter to drive the Y waveguide, so that the suppression of the periodic pulse error is realized.
Preferably, the frequency measured in step 1 is greater than 1/T, wherein T is the closed loop period of the micrometer sensor.
Preferably, the input data used for obtaining the IIR filter transfer function in step 2 is obtained by intercepting the data collected in step 1, and the intercepted data segment takes the reset position of the step wave driving signal as a starting point and the end point of the sensor output signal which is restored to be equal to the average value before reset.
Preferably, the step wave driving signal and the sensor output signal need to be subjected to time sequence adjustment according to the time delay characteristic of the sensor closed-loop detection algorithm, so that the acquired sensor output signal is ensured to correspond to the step wave driving signal at the same moment.
Preferably, the steps 1 to 4 are repeated aiming at different Y waveguides to obtain corresponding frequency domain compensation filters, so that periodic pulse error suppression is realized.
A micrometer sensor period pulse error suppression device comprises a measuring device and a frequency domain compensation filter;
the measuring device is used for measuring a step wave driving signal and a sensor output signal in each closed loop period of the micrometer sensor;
the transfer function of the frequency domain compensation filter is an inversion function of the transfer function of the IIR filter, the transfer function of the IIR filter is obtained by taking the step wave driving signal of each closed loop period as input, taking the sensor output signal as output and taking the IIR filter as a waveform; the method is used for processing the step wave driving signal and then driving the Y waveguide, so that the suppression of the periodic pulse error is realized.
Preferably, the measuring device is an ultrahigh frequency measuring device, the measuring frequency of the ultrahigh frequency measuring device is greater than 1/T, and T is the closed loop period of the micrometer sensor.
A micrometer sensor comprises an ASE light source, a photoelectric detector, a coupler, a photoelectric modulator, a preamplifier, an FPGA for closed-loop detection, a waveguide driver and a frequency domain compensation filter as claimed in claim 4, wherein the frequency domain compensation filter is used for processing a step wave driving signal processed by the closed-loop detection and then driving a Y waveguide, so that the suppression of periodic pulse errors is realized.
Preferably, the frequency domain compensation filter is arranged in the FPGA, the input of the frequency domain compensation filter is the output of closed loop detection, and the output enters the waveguide drive.
Preferably, the FPGA comprises three working modes, namely a high-speed acquisition mode and a periodic pulse error characteristic extraction mode; the frequency compensation filter parameter injection mode is used for injecting the corresponding parameters of the transfer function of the frequency compensation filter obtained by calculation; and in a closed loop detection working mode with the frequency compensation filter, the output of the micrometer sensor without periodic pulse errors is realized after the frequency compensation filter is added.
Compared with the prior art, the invention has the advantages that:
the existing waveguide manufacturing technology cannot realize higher signal bandwidth of the waveguide. The existing filtering technology can only carry out filtering on the high-frequency output of the micrometer sensor, but the pulse error frequency is variable, and the filtering can also filter useful information. A method and a device for suppressing periodic pulse errors of a micrometric sensor based on frequency domain compensation are provided. Meanwhile, an inverse function is obtained from the filter parameters to obtain frequency domain compensation filter parameters, and after the step wave driving signals of the micrometer sensor are processed by the filter, the periodic pulse errors can be effectively inhibited while normal measurement of the micrometer sensor is not influenced. The method adjusts corresponding filter parameters aiming at different waveguides, does not influence the normal measurement of the micrometer sensor while inhibiting the periodic pulse error, and has better engineering application prospect.
Drawings
FIG. 1 shows a micrometer gyroscope for high-speed data acquisition and output;
FIG. 2 is a basic schematic block diagram of a fiber optic gyroscope;
FIG. 3 is a schematic block diagram of a fiber optic gyroscope including frequency domain compensation filtering;
FIG. 4 is a flow chart of periodic pulse error suppression;
FIG. 5 is a schematic of a waveguide drive signal;
FIG. 6 is a schematic diagram of a high-speed demodulated signal;
fig. 7 data comparison before and after periodic pulse error suppression.
Detailed Description
The block diagram of the periodic pulse error suppression method of the invention is shown in fig. 3, on the basis of the traditional fiber optic gyroscope principle, a frequency domain compensation filter is added in an FPGA to perform frequency domain compensation filtering on a step wave driving signal, so as to realize suppression of the periodic pulse error, and the flow chart of the suppression method is shown in fig. 4, wherein the transfer function calculation method of the frequency domain compensation filter is as follows:
(1) collecting a step wave driving signal and a sensor output signal of each feedback period of the micro sensor by using ultrahigh frequency collecting equipment, wherein typical output signals are shown in figures 5 and 6;
(2) and intercepting the collected data as shown in fig. 5 and 6, wherein the starting point of the intercepted data is a step wave reset position, and the end point of the intercepted data is a position where the sensor output is restored to a step wave pre-reset state.
(3) Because the micrometric sensor closed-loop detection algorithm and the optical path have time delay characteristics, the step wave driving signal is reflected in the output of the micrometric sensor after being applied to the waveguide through a certain time delay, in order to ensure the accuracy of the model, the time delay of the system is calculated according to the closed-loop detection algorithm and the optical path, and the time sequence adjustment is carried out on the intercepted signal, so that the step wave driving signal and the sensor output signal caused by the application of the signal are ensured to be at the same time;
(4) using the intercepted and time sequence adjusted step wave driving signal as the filter input signal, the sensor output signal as the filter output signal, using IIR filter with transfer function shown in formula (2) as the model, calculating the periodic pulse error transfer function H (z)
Figure BDA0003573766260000041
(5) Obtaining an inverse function H of the transfer function H (z) in step (4) -1 (z)；
(6) In the actual gyro closed-loop detection procedure, the original closed-loop feedback signal digital quantity to be output is converted into H through a transfer function -1 (z) the output is processed by the filter, so that the periodic pulse error can be inhibited;
(7) and (4) repeating the steps (1) to (6) according to different Y waveguide parameters to obtain a corresponding frequency domain compensation filter, thereby realizing periodic pulse error suppression.
The periodic pulse error suppression method provided by the invention is used for filtering the digital quantity of the gyro original closed-loop feedback signal, and the data pair before and after filtering is shown in figure 7. As can be seen from the figure, the algorithm provided by the invention can effectively inhibit the periodic pulse error of the micrometer sensor.
On the basis of the introduction, the micrometer sensor periodic pulse error suppression device comprises a measuring device and a frequency domain compensation filter;
the measuring device is used for measuring a step wave driving signal and a sensor output signal in each closed loop period of the micrometer sensor; the measuring device is an ultrahigh frequency measuring device, the measuring frequency of the measuring device is more than 1/T, and T is the closed loop period of the micrometer sensor.
The transfer function of the frequency domain compensation filter is an inversion function of the transfer function of the IIR filter, the transfer function of the IIR filter is obtained by taking the step wave driving signal of each closed loop period as input, taking the sensor output signal as output and taking the IIR filter as a waveform; the method is used for processing the step wave driving signal and then driving the Y waveguide, so that the suppression of the periodic pulse error is realized.
A micrometer sensor comprises an ASE light source, a photoelectric detector, a coupler, a photoelectric modulator, a preamplifier, an FPGA for closed-loop detection and a waveguide drive, wherein a frequency domain compensation filter processes a step wave drive signal processed by the closed-loop detection and then drives a Y waveguide, so that the suppression of periodic pulse errors is realized. The frequency domain compensation filter is arranged in the FPGA, the input of the frequency domain compensation filter is the output of closed loop detection, and the output enters the waveguide drive.
The invention is not described in detail and is within the knowledge of a person skilled in the art.

Claims (10)

1. A method for suppressing periodic pulse errors of a micrometer sensor is characterized by comprising the following steps:
step 1: collecting a step wave driving signal and a sensor output signal of the micrometer sensor in each closed loop period;
step 2: step wave driving signals of each closed loop period acquired in the step 1 are used as input, sensor output signals are used as output, and an IIR filter is used as a waveform to solve a transfer function;
and step 3: performing an inverse function on the IIR filter transfer function obtained in the step (2) to obtain a frequency domain compensation filter;
and 4, step 4: and the step wave driving signal is processed by a frequency domain compensation filter to drive the Y waveguide, so that the suppression of the periodic pulse error is realized.
2. The method of claim 1, wherein: the frequency measured in the step 1 is more than 1/T, and T is the closed loop period of the micrometer sensor.
3. The method of claim 1, wherein: and 2, the input data used for solving the IIR filter transfer function in the step 1 is obtained by intercepting the data collected in the step 1, and the intercepted data section takes the reset position of the step wave driving signal as a starting point and the output signal of the sensor is restored to be equal to the average value before resetting as an end point.
4. The method of claim 1, wherein: the step wave driving signal and the sensor output signal need to be subjected to time sequence adjustment according to the time delay characteristic of the sensor closed loop detection algorithm, and the acquired sensor output signal is ensured to correspond to the step wave driving signal at the same moment.
5. The method of claim 1, wherein: and (4) repeating the steps 1-4 aiming at different Y waveguides to obtain a corresponding frequency domain compensation filter, so that the periodic pulse error suppression is realized.
6. A micrometer sensor periodic pulse error suppression device is characterized in that: the device comprises a measuring device and a frequency domain compensation filter;
the measuring device is used for measuring a step wave driving signal and a sensor output signal in each closed loop period of the micrometer sensor;
the transfer function of the frequency domain compensation filter is an inversion function of the transfer function of the IIR filter, the transfer function of the IIR filter is obtained by taking the step wave driving signal of each closed loop period as input, taking the sensor output signal as output and taking the IIR filter as a waveform; the method is used for processing the step wave driving signal and then driving the Y waveguide, so that the suppression of the periodic pulse error is realized.
7. The apparatus of claim 4, wherein: the measuring device is an ultrahigh frequency measuring device, the measuring frequency of the measuring device is more than 1/T, and T is the closed loop period of the micrometer sensor.
8. A micrometer sensor comprises an ASE light source, a photoelectric detector, a coupler, a photoelectric modulator, a preamplifier, an FPGA for closed-loop detection and a waveguide driver, and is characterized in that: the frequency domain compensation filter of claim 4 is further included, and the frequency domain compensation filter processes the step wave driving signal after the closed loop detection processing and drives the Y waveguide, so as to suppress the periodic pulse error.
9. The micrometric sensor as claimed in claim 8, characterized in that: the frequency domain compensation filter is arranged in the FPGA, the input of the frequency domain compensation filter is the output of closed loop detection, and the output enters the waveguide drive.
10. The micrometric sensor as claimed in claim 8, characterized in that: the FPGA comprises three working modes, namely a high-speed acquisition mode and is used for extracting the error characteristic of the periodic pulse; the frequency compensation filter parameter injection mode is used for injecting the corresponding parameters of the transfer function of the frequency compensation filter obtained by calculation; and in a closed loop detection working mode with the frequency compensation filter, the output of the micrometer sensor without periodic pulse errors is realized after the frequency compensation filter is added.
CN202210333456.4A 2022-03-30 2022-03-30 Method and device for inhibiting periodic pulse errors of micrometer sensor Pending CN114812605A (en)

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