CN115112113B - Device and method for compensating relative intensity noise error of resonant fiber-optic gyroscope - Google Patents
Device and method for compensating relative intensity noise error of resonant fiber-optic gyroscope Download PDFInfo
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- CN115112113B CN115112113B CN202210841463.5A CN202210841463A CN115112113B CN 115112113 B CN115112113 B CN 115112113B CN 202210841463 A CN202210841463 A CN 202210841463A CN 115112113 B CN115112113 B CN 115112113B
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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
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Abstract
The invention provides a relative intensity noise error compensation device and method of a resonant fiber-optic gyroscope, wherein a laser outputs laser, the laser is connected to an isolator, an output optical signal is connected to a coupler, the coupler equally divides a received light beam into two beams, one beam is connected to an operation output module and converted into an electric signal to serve as a reference signal, the other beam is connected to the other coupler, the other coupler transmits the received light beam to a modulation and demodulation module, the modulation and demodulation module modulates the light beam and transmits the modulated light beam to the operation output module, the operation output module performs operation on the demodulated output signal and the received reference signal, and an error coefficient is calculated to correct the output of the gyroscope.
Description
Technical Field
The invention belongs to the technical field of fiber optic gyroscope sensing, and particularly relates to a relative intensity noise error compensation device and method of a resonant fiber optic gyroscope.
Background
A Resonant Fiber Optic Gyroscope (RFOG) is an angular rate sensor that uses the Sagnac effect to generate a resonance phenomenon in a ring resonator for measuring the rotational speed of a carrier. Compared with the first generation of interference type fiber optic gyroscope, the resonance type fiber optic gyroscope can use shorter optical fibers to achieve the same precision as the interference type fiber optic gyroscope, so that the cost can be reduced, the influence of temperature and pressure on the gyroscope is reduced, and the resonance type fiber optic gyroscope has obvious advantages in the aspect of gyroscope miniaturization and integration.
In the development process of the resonant fiber optic gyroscope, the performance of the system is restricted by noise such as back scattered noise, polarization noise, kerr noise, relative Intensity Noise (RIN) and the like. Wherein the relative intensity noise of the laser is one of the important factors. In an ideal situation, the output light intensity of the laser used by the resonant fiber-optic gyroscope is constant, but actually, the output light intensity of the laser changes due to factors such as internal spontaneous emission, current tuning, and external environment changes, and relative intensity noise is introduced into the system. The relative intensity noise can cause the slope of a linear working area of a demodulation output curve of the gyroscope to change, so that the scale factor of the gyroscope is influenced, and errors are introduced into the gyroscope. Therefore, in order to improve the detection accuracy of the gyro, it is necessary to compensate for an error caused by the intensity noise in the resonant fiber optic gyro.
Disclosure of Invention
The invention provides a relative intensity noise error compensation device and method of a resonant fiber optic gyroscope, which aims to inhibit relative intensity noise in the resonant fiber optic gyroscope and improve the gyroscope precision.
The invention is realized by the following technical scheme:
a relative intensity noise error compensation device and method of a resonant fiber optic gyroscope:
the device specifically comprises: the system comprises a laser 1, an isolator 2, a1 × 2 coupler C3, a1 × 2 coupler C1, a modulation and demodulation module and an operation output module;
the laser 1 outputs laser, and is connected to the isolator 2, and an optical signal output by the isolator 2 is connected to the 1 × 2 coupler C3;
the 1X 2 coupler C3 equally divides the received light beam into two beams, one beam is optically connected to the operation output module and converted into an electric signal serving as a reference signal, and the other beam is optically connected to the 1X 2 coupler C1;
the 1 x 2 coupler C14 transmits the received light beam to a modulation and demodulation module, the light beam is transmitted to an operation output module after being modulated by the modulation and demodulation module, the operation output module performs operation on the demodulated output signal and the received reference signal, and the error coefficient correction gyroscope output is obtained through calculation.
Further, the modulation and demodulation module includes a phase modulator PM2, a phase modulator PM 16, a circulator 2 7, a circulator 18, a2 × 2 coupler C29, a photodetector PD1 10, a photodetector PD2 11, a lock-in amplifier LIA1 12, a lock-in amplifier LIA2 13, a signal generator SG1 14, a signal generator SG2, and a frequency locking module 16;
the operation output module comprises a photoelectric detector PD317 and a relative intensity noise multiplication module 18.
Further, in the operation output module, the photodetector PD317 converts the received light beam into a reference signal;
the 1 × 2 coupler C1 equally divides the received light beam into two beams, one of which is a counterclockwise light beam CCW and the other is a clockwise light beam CW.
Further, the counterclockwise light beam CCW is coupled to the phase modulator PM2, and the modulated signal generated by the signal generator SG2 15 is transmitted to the phase modulator PM 2;
the phase modulator PM2 outputs a modulated optical signal, the optical signal is accessed to the circulator 2 7, the optical signal output by the circulator 2 7 is connected to one end of the 2 x 2 coupler C2, the optical signal is output from the other end of the 2 x 2 coupler C29 and enters the resonant cavity FRR;
the optical signal emitted by the resonant cavity is transmitted to the photoelectric detector PD2 11 through the 2 × 2 coupler C2 and the circulator 18, the photoelectric detector PD2 converts the optical signal into an electrical signal and outputs the electrical signal to the lock-in amplifier LIA2 13, the electrical signal is demodulated and output to the frequency locking module 16 through the lock-in amplifier LIA2 13, and the frequency locking module 16 outputs the output to the laser 1 to stabilize the laser frequency.
Further, the clockwise light beam CW is switched into the phase modulator PM1, and the modulated signal generated by the signal generator SG1 14 is transmitted to the phase modulator PM 1;
the phase modulator PM1 outputs a modulated optical signal, the optical signal is accessed to the circulator 18, the optical signal output by the circulator 18 is connected to one end of the 2 x 2 coupler C2, and is output from the other end of the 2 x 2 coupler C2 to enter the resonant cavity FRR;
the optical signal emitted from the resonant cavity is transmitted to the photodetector PD1 10 through the 2 × 2 coupler C2 and the circulator 2 7, the photodetector PD1 converts the optical signal into an electrical signal and outputs the electrical signal to the lock-in amplifier LIA1 12, the electrical signal is demodulated and output to the relative intensity noise multiplication module 18 through the lock-in amplifier LIA1 12, and the reference signal and the demodulated and output signal are operated in the relative intensity noise multiplication module 18 to obtain the error coefficient correction gyro output.
A relative intensity noise error compensation device and method of a resonant fiber optic gyroscope:
the laser 1 outputs laser, and is connected to the isolator 2, and the optical signal output by the isolator 2 is connected to the 1 × 2 coupler C3;
the 1 x 2 coupler C3 equally divides the received light beam into two beams, wherein one beam is optically connected to the photoelectric detector PD317, the photoelectric detector PD317 converts the received light beam into a reference signal, and the other beam is optically connected to the 1 x 2 coupler C1;
the 1 x 2 coupler C1 equally divides the received light beam into two beams, one of which is a counterclockwise beam CCW and the other is a clockwise beam CW;
the counterclockwise light beam CCW is coupled into the phase modulator PM2, and the modulated signal generated by the signal generator SG2 15 is transmitted to the phase modulator PM 2;
the phase modulator PM2 outputs a modulated optical signal, the optical signal is accessed to the circulator 2, the optical signal output by the circulator 2 7 is connected to one end of the 2 x 2 coupler C2, and is output from the other end of the 2 x 2 coupler C2 to enter the resonant cavity FRR;
an optical signal emitted by the resonant cavity is transmitted to a photoelectric detector PD2 11 through a2 x 2 coupler C2 and a circulator 18, the photoelectric detector PD2 converts the optical signal into an electric signal and outputs the electric signal to a phase-locked amplifier LIA2 13, the electric signal is demodulated and output to a frequency locking module 16 through the phase-locked amplifier LIA2 13, and the frequency locking module 16 outputs the output to a laser 1 to stabilize the laser frequency;
the clockwise light beam CW is switched into the phase modulator PM 16, and the modulated signal generated by the signal generator SG1 14 is transmitted to the phase modulator PM 16;
the phase modulator PM1 outputs a modulated optical signal, the optical signal is accessed to the circulator 18, the optical signal output by the circulator 18 is connected to one end of the 2 x 2 coupler C2, the optical signal is output from the other end of the 2 x 2 coupler C29 and enters the resonant cavity FRR,
the optical signal emitted from the resonant cavity is transmitted to the photodetector PD1 10 through the 2 × 2 coupler C2 and the circulator 2 7, the photodetector PD1 converts the optical signal into an electrical signal and outputs the electrical signal to the lock-in amplifier LIA1 12, the electrical signal is demodulated and output to the relative intensity noise multiplication module 18 through the lock-in amplifier LIA1 12, and the reference signal and the demodulated and output signal are operated in the relative intensity noise multiplication module 18 to obtain the error coefficient correction gyro output.
Further, the photoelectric detector PD1 acquires information containing a resonant frequency difference, and after the information is converted into a digital signal by an a/D conversion circuit, the digital signal is synchronously demodulated by a lock-in amplifier LIA1 12 to obtain an original gyro output;
the output of the laser 1 collected by the photoelectric detector PD317 is used as a reference signal, the reference signal is converted into a digital signal by an A/D conversion circuit, the two signals are time-synchronized firstly because the optical paths for transmitting the two signals are different and the actual delay time t exists between the two signals, and then the compensation coefficient K is obtained by calculating the reference signal according to the formula (1) b ：
Wherein I 0 Is the initial light intensity, I, of the laser output L (t) is the actual output light intensity of the laser, and Delta I (t) is the actual output light of the laserA change in intensity from an initial intensity;
and multiplying the output of the gyroscope by an error coefficient, and performing multiplication compensation to obtain the compensated gyroscope output.
Further, for two signals with correlation, the delay time of the two signals is obtained by calculating the cross correlation coefficient between the two signals, wherein the cross correlation coefficient R is xy (τ) is defined as follows:
where x (n) is the output signal of the gyroscope, y (n) is the reference signal, τ is the delay time between the two signals, and the cross-correlation function of the two signals will have a maximum value when the actual delay time t is equal to the delay time τ between the two signals, i.e., the actual delay time t of the two signals is obtained by calculating the cross-correlation coefficient between x (n) and y (n).
An electronic device comprising a memory storing a computer program and a processor implementing the steps of any of the above methods when the computer program is executed by the processor.
A computer readable storage medium storing computer instructions which, when executed by a processor, implement the steps of any of the above methods.
The invention has the beneficial effects that
After the relative intensity noise phase multiplication is added into the system, the zero bias stability of the gyroscope is improved, and the intensity noise phase multiplication is proved to effectively compensate errors caused by the intensity noise in the gyroscope system, so that the detection precision of the gyroscope is improved.
Drawings
FIG. 1 is an intensity noise multiplication scheme of the present invention;
FIG. 2 is a block diagram of the intensity noise multiplication module of the present invention;
FIG. 3 is a block diagram of a cross-correlation operation module of the present invention;
wherein, 1 is a laser, 2 is an isolator, 3 is a1 × 2 coupler C3, 4 is a1 × 2 coupler C1, 5 is a phase modulator PM2, 6 is a phase modulator PM1, 7 is a circulator 2, 8 is a circulator 1, 9 is a2 × 2 coupler C2, 10 is a photodetector PD1, 11 is a photodetector PD2, 12 is a lock-in amplifier LIA1, 13 is a lock-in amplifier LIA2, 14 is a signal generator SG1, 15 is a signal generator SG2, 16 is a frequency locking module, and 17 is a photodetector PD3, 18 is a relative intensity noise multiplication module.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
With reference to fig. 1 to 3, the present invention provides a relative intensity noise error compensation apparatus and method for a resonant fiber optic gyroscope.
A resonant mode fiber optic gyroscope intensity noise error compensation device:
the device specifically comprises: the system comprises a laser 1, an isolator 2, a1 × 2 coupler C3, a1 × 2 coupler C1, a modulation and demodulation module and an operation output module;
the laser 1 outputs laser and is connected to the isolator 2, and an optical signal output by the isolator 2 is connected to the 1 x 2 coupler C33;
the 1X 2 coupler C33 equally divides the received light beam into two beams, one beam is optically connected to the operation output module and converted into an electric signal serving as a reference signal, and the other beam is optically connected to the 1X 2 coupler C14;
the 1 x 2 coupler C14 transmits the received light beam to a modulation and demodulation module, the light beam is transmitted to an operation output module after being modulated by the modulation and demodulation module, the operation output module performs operation on the demodulated output signal and the received reference signal, and the error coefficient correction gyroscope output is obtained through calculation.
The modulation module comprises a phase modulator PM2, a phase modulator PM 16, a circulator 2 7, a circulator 18, a2 x 2 coupler C2, a photoelectric detector PD1, a photoelectric detector PD2 11, a phase-locked amplifier LIA1 12, a phase-locked amplifier LIA2 13, a signal generator SG1 14, a signal generator SG2 and a frequency locking module 16;
the operation output module comprises a photoelectric detector PD317 and a relative intensity noise multiplication module 18.
In the operation output module, the photoelectric detector PD317 converts the received light beam into a reference signal;
the 1 × 2 coupler C1 equally divides the received light beam into two beams, one of which is a counterclockwise light beam CCW and the other is a clockwise light beam CW.
The counterclockwise light beam CCW is coupled into the phase modulator PM2, and the modulated signal electric signal generated by the signal generator SG2 15 is transmitted to the phase modulator PM 2;
at this time, the phase modulator PM2 outputs a modulated optical signal, the optical signal is accessed to the circulator 2 7, the optical signal output by the circulator 2 7 is connected to one end of the 2 × 2 coupler C2, and is output from the other end of the 2 × 2 coupler C29 to enter the resonant cavity FRR;
an optical signal emitted by the resonant cavity is transmitted to the photoelectric detector PD2 11 through the 2 × 2 coupler C2 and the circulator 18, the photoelectric detector PD2 converts the optical signal into an electrical signal and outputs the electrical signal to the lock-in amplifier LIA2 13, the electrical signal is demodulated and output to the frequency locking module 16 through the lock-in amplifier LIA2 13, and the frequency locking module 16 outputs the output to the laser 1 to stabilize the laser frequency.
The clockwise light beam CW is connected to the phase modulator PM 16, and the modulated signal electric signal generated by the signal generator SG1 14 is transmitted to the phase modulator PM 16;
at this time, the phase modulator PM1 outputs a modulated optical signal, the optical signal is accessed to the circulator 18, the optical signal output by the circulator 18 is connected to one end of the 2 × 2 coupler C2, and is output from the other end of the 2 × 2 coupler C2 to enter the resonant cavity FRR;
the optical signal emitted from the resonant cavity is transmitted to the photodetector PD1 10 through the 2 × 2 coupler C2 and the circulator 2 7, the photodetector PD1 converts the optical signal into an electrical signal and outputs the electrical signal to the lock-in amplifier LIA1 12, the electrical signal is demodulated and output to the relative intensity noise multiplication module 18 through the lock-in amplifier LIA1 12, and the reference signal and the demodulated and output signal are operated in the relative intensity noise multiplication module 18 to obtain the error coefficient correction gyro output.
A relative intensity noise error compensation method of a resonant fiber optic gyroscope comprises the following steps:
the laser 1 outputs laser, and is connected to the isolator 2, and the optical signal output by the isolator 2 is connected to the 1 x 2 coupler C3;
the 1X 2 coupler C3 equally divides the received light beam into two beams, one beam is optically connected to the photoelectric detector PD317, the photoelectric detector PD317 converts the received light beam into a reference signal, and the other beam is optically connected to the 1X 2 coupler C1;
the 1 x 2 coupler C1 equally divides the received light beam into two beams, one of which is a counterclockwise light beam CCW and the other is a clockwise light beam CW;
the counterclockwise light beam CCW is coupled into the phase modulator PM2, and the modulated signal generated by the signal generator SG2 15 is transmitted to the phase modulator PM 2;
the phase modulator PM2 outputs a modulated optical signal, the optical signal is accessed to the circulator 2, the optical signal output by the circulator 2 7 is connected to one end of the 2 x 2 coupler C2, and is output from the other end of the 2 x 2 coupler C2 to enter the resonant cavity FRR;
an optical signal emitted by the resonant cavity is transmitted to a photoelectric detector PD2 11 through a2 x 2 coupler C2 and a circulator 18, the photoelectric detector PD2 converts the optical signal into an electric signal and outputs the electric signal to a phase-locked amplifier LIA2 13, the electric signal is demodulated and output to a frequency locking module 16 through the phase-locked amplifier LIA2 13, and the frequency locking module 16 outputs the output to a laser 1 to stabilize the laser frequency;
the clockwise light beam CW is switched into the phase modulator PM 16, and the modulated signal generated by the signal generator SG1 14 is transmitted to the phase modulator PM 16;
the phase modulator PM1 outputs a modulated optical signal, the optical signal is accessed to the circulator 18, the optical signal output by the circulator 18 is connected to one end of the 2 x 2 coupler C2, the optical signal is output from the other end of the 2 x 2 coupler C29 and enters the resonant cavity FRR,
an optical signal emitted by the resonant cavity is transmitted to the photoelectric detector PD1 10 through the 2 x 2 coupler C2 and the circulator 2 7, the photoelectric detector PD1 converts the optical signal into an electric signal and outputs the electric signal to the phase-locked amplifier LIA1 12, the electric signal is demodulated and output to the relative intensity noise multiplication module 18 through the phase-locked amplifier LIA1 12, and the reference signal and the demodulated and output signal are operated in the relative intensity noise multiplication module 18 to obtain an error coefficient correction gyroscope output.
The mechanism of suppression of relative intensity noise is shown in fig. 2: the photoelectric detector PD1 collects information containing resonance frequency difference, and after the information is converted into a digital signal by an A/D conversion circuit, the digital signal is synchronously demodulated by a phase-locked amplifier LIA1 12 to obtain original gyroscope output;
the output of the laser 1 collected by the photoelectric detector PD317 is used as a reference signal, the reference signal is converted into a digital signal by an A/D conversion circuit, the two signals are time-synchronized firstly because the two paths of signals have different transmission optical paths and actual delay time t exists between the two signals, and then a compensation coefficient K is obtained by calculating the reference signal according to a formula (1) b ：
In which I 0 Is the initial light intensity, I, of the laser output L (t) is the actual output light intensity of the laser, and Delta I (t) is the change value of the actual output light intensity of the laser relative to the initial light intensity;
and multiplying the output of the gyroscope by an error coefficient, and performing multiplication compensation to obtain the compensated gyroscope output.
Determining the delay time t of two signals, as shown in fig. 3, in engineering application, for two signals with correlation, obtaining the delay time of the two signals by calculating the cross correlation coefficient between the two signals, and obtaining the cross correlation coefficient R xy (τ) is defined as follows:
where x (n) is the output signal of the gyroscope, y (n) is the reference signal, x (n) and y (n) are two stationary random signals, τ is the delay time between the two signals, and the cross-correlation function of the two will have a maximum value when the actual delay time t is equal to the delay time τ between the two signals, i.e. the actual delay time t of the two is obtained by calculating the cross-correlation coefficient between x (n) and y (n).
An electronic device comprising a memory storing a computer program and a processor implementing the steps of any of the above methods when the computer program is executed by the processor.
A computer readable storage medium storing computer instructions which, when executed by a processor, implement the steps of any of the above methods.
The method for estimating the source number of the rotating circular array based on the phase compensation is introduced in detail, the principle and the implementation of the method are explained, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (6)
1. The utility model provides a relative intensity noise error compensation arrangement of resonant mode fiber optic gyroscope which characterized in that:
the device specifically comprises: the system comprises a laser (1), an isolator (2), a1 x 2 coupler C3 (3), a1 x 2 coupler C1 (4), a modulation and demodulation module and an operation output module;
the laser (1) outputs laser and is connected to the isolator (2), and an optical signal output by the isolator (2) is connected to the 1 x 2 coupler C3 (3);
the 1 x 2 coupler C3 (3) equally divides the received light beam into two beams, wherein one beam is optically connected to the operation output module and converted into an electric signal serving as a reference signal, and the other beam is optically connected to the 1 x 2 coupler C1 (4);
the 1 x 2 coupler C1 (4) transmits the received light beam to a modulation and demodulation module, the light beam is modulated by the modulation and demodulation module and then transmitted to an operation output module, the operation output module performs operation on the demodulated output signal and the received reference signal, and the error coefficient correction gyroscope output is obtained through calculation;
the modulation and demodulation module comprises a phase modulator PM2 (5), a phase modulator PM1 (6), a circulator 2 (7), a circulator 1 (8), a2 x 2 coupler C2 (9), a photoelectric detector PD1 (10), a photoelectric detector PD2 (11), a phase-locked amplifier LIA1 (12), a phase-locked amplifier LIA2 (13), a signal generator SG1 (14), a signal generator SG2 (15) and a frequency locking module (16);
the operation output module comprises a photoelectric detector PD3 (17) and a relative intensity noise multiplication module (18);
in the operation output module, a photoelectric detector PD3 (17) converts the received light beam into a reference signal;
the 1 × 2 coupler C1 (4) equally divides the received light beam into two beams, one of which is a counterclockwise light beam CCW and the other is a clockwise light beam CW;
the counterclockwise light beam CCW is coupled into the phase modulator PM2 (5), and the modulated signal generated by the signal generator SG2 (15) is transmitted to the phase modulator PM2 (5);
the phase modulator PM2 (5) outputs a modulated optical signal, the optical signal is accessed to the circulator 2 (7), the optical signal output by the circulator 2 (7) is connected to one end of the 2 x 2 coupler C2 (9), and the optical signal is output from the other end of the 2 x 2 coupler C2 (9) and enters the resonant cavity FRR;
an optical signal emitted by a resonant cavity is transmitted to a photoelectric detector PD2 (11) through a2 x 2 coupler C2 (9) and a circulator 1 (8), the photoelectric detector PD2 (11) converts the optical signal into an electric signal and outputs the electric signal to a phase-locked amplifier LIA2 (13), the electric signal is demodulated and output to a frequency locking module (16) through the phase-locked amplifier LIA2 (13), and the frequency locking module (16) outputs the output to a laser (1) to stabilize the laser frequency;
the clockwise light beam CW is coupled into the phase modulator PM1 (6), and the modulated signal generated by the signal generator SG1 (14) is transmitted to the phase modulator PM1 (6);
the phase modulator PM1 (6) outputs a modulated optical signal, the optical signal is accessed to the circulator 1 (8), the optical signal output by the circulator 1 (8) is connected to one end of the 2 x 2 coupler C2 (9), the optical signal is output from the other end of the 2 x 2 coupler C2 (9) and enters the resonant cavity FRR,
an optical signal emitted by a resonant cavity is transmitted to a photoelectric detector PD1 (10) through a2 x 2 coupler C2 (9) and a circulator 2 (7), the photoelectric detector PD1 (10) converts the optical signal into an electric signal and outputs the electric signal to a phase-locked amplifier LIA1 (12), the electric signal is demodulated and output to a relative intensity noise multiplication module (18) through the phase-locked amplifier LIA1 (12), and the reference signal and the demodulated and output signal are operated in the relative intensity noise multiplication module (18) to obtain an error coefficient correction gyroscope output.
2. A relative intensity noise error compensation method of a resonant fiber optic gyroscope is characterized in that:
laser output by the laser (1) is connected to the isolator (2), and an optical signal output by the isolator (2) is connected to the 1 x 2 coupler C3 (3);
the 1 x 2 coupler C3 (3) equally divides the received light beam into two beams, one beam is optically connected to the photoelectric detector PD3 (17), the photoelectric detector PD3 (17) converts the received light beam into a reference signal, and the other beam is optically connected to the 1 x 2 coupler C1 (4);
the 1 × 2 coupler C1 (4) equally divides the received light beam into two beams, one of which is a counterclockwise beam CCW and the other is a clockwise beam CW;
the counterclockwise light beam CCW is coupled into the phase modulator PM2 (5), and the modulated signal generated by the signal generator SG2 (15) is transmitted to the phase modulator PM2 (5);
the phase modulator PM2 (5) outputs a modulated optical signal, the optical signal is accessed to the circulator 2 (7), the optical signal output by the circulator 2 (7) is connected to one end of the 2 x 2 coupler C2 (9), and the optical signal is output from the other end of the 2 x 2 coupler C2 (9) and enters the resonant cavity FRR;
an optical signal emitted by a resonant cavity is transmitted to a photoelectric detector PD2 (11) through a2 x 2 coupler C2 (9) and a circulator 1 (8), the photoelectric detector PD2 (11) converts the optical signal into an electric signal and outputs the electric signal to a phase-locked amplifier LIA2 (13), the electric signal is demodulated and output to a frequency locking module (16) through the phase-locked amplifier LIA2 (13), and the frequency locking module (16) outputs the output to a laser (1) to stabilize the laser frequency;
the clockwise light beam CW is coupled into the phase modulator PM1 (6), and the modulated signal generated by the signal generator SG1 (14) is transmitted to the phase modulator PM1 (6);
the phase modulator PM1 (6) outputs a modulated optical signal, the optical signal is accessed to the circulator 1 (8), the optical signal output by the circulator 1 (8) is connected to one end of the 2 x 2 coupler C2 (9), the optical signal is output from the other end of the 2 x 2 coupler C2 (9) and enters the resonant cavity FRR,
an optical signal emitted by a resonant cavity is transmitted to a photoelectric detector PD1 (10) through a2 x 2 coupler C2 (9) and a circulator 2 (7), the photoelectric detector PD1 (10) converts the optical signal into an electric signal and outputs the electric signal to a phase-locked amplifier LIA1 (12), the electric signal is demodulated and output to a relative intensity noise multiplication module (18) through the phase-locked amplifier LIA1 (12), and the reference signal and the demodulated and output signal are operated in the relative intensity noise multiplication module (18) to obtain an error coefficient correction gyroscope output.
3. The compensation method of claim 2, wherein:
the photoelectric detector PD1 (10) collects information containing resonance frequency difference, and after the information is converted into digital signals by an A/D conversion circuit, the digital signals are synchronously demodulated by a phase-locked amplifier LIA1 (12) to obtain original gyro output;
the output of the laser (1) is collected by the photoelectric detector PD3 (17) to be used as a reference signal, the reference signal is converted into a digital signal by an A/D conversion circuit, the two signals are time-synchronized firstly because the optical paths for transmitting the two signals are different and the actual delay time t exists between the two signals, and then the compensation coefficient K is obtained by calculating the reference signal according to the formula (1) b ：
Wherein I 0 Is the initial light intensity, I, of the laser output L (t) is the actual output light intensity of the laser, and delta I (t) is the change value of the actual output light intensity of the laser relative to the initial light intensity;
and multiplying the output of the gyroscope by the error coefficient, and performing multiplication compensation to obtain the compensated gyroscope output.
4. The compensation method of claim 3, wherein:
for two signals with correlation, the delay time of the two signals is obtained by calculating the cross correlation coefficient between the two signals, and the cross correlation coefficient R xy (τ) is defined as follows:
where x (n) is the output signal of the gyroscope, y (n) is the reference signal, τ is the delay time between the two signals, and when the actual delay time t is equal to the delay time τ between the two signals, the cross-correlation function of the two will have a maximum value, i.e., the actual delay time t of the two is obtained by calculating the cross-correlation coefficient between x (n) and y (n).
5. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 2 to 4 when executing the computer program.
6. A computer readable storage medium storing computer instructions which, when executed by a processor, implement the steps of the method of any one of claims 2 to 4.
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| CN202210841463.5A CN115112113B (en) | 2022-07-18 | 2022-07-18 | Device and method for compensating relative intensity noise error of resonant fiber-optic gyroscope |
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| CN202210841463.5A CN115112113B (en) | 2022-07-18 | 2022-07-18 | Device and method for compensating relative intensity noise error of resonant fiber-optic gyroscope |
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