CN115655253A - RISC-V architecture based interference type optical fiber gyro signal modulation and demodulation system - Google Patents
RISC-V architecture based interference type optical fiber gyro signal modulation and demodulation system Download PDFInfo
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Abstract
The invention provides an interference type optical fiber gyro signal modulation and demodulation system based on RISC-V architecture, comprising: the circuit system comprises an FPGA processor and a first feedback loop formed by the FPGA processor, a second digital-to-analog converter and a feedback gain amplifier; a second feedback loop formed by the FPGA processor, the first digital-to-analog converter, the second digital-to-analog converter and the feedback gain amplifier; the first feedback loop introduces a nonreciprocal phase error which is used for compensating phase shift caused by the rotation of an optical fiber ring of the interference type optical fiber gyroscope; after the second feedback loop carries out integral accumulation on the 2 pi reset error signal, the 2 pi reset error signal is added to the reference voltage of the second digital-to-analog converter by the first digital-to-analog converter. According to the invention, through designing the first feedback loop and the second feedback loop and adopting the RISC-V microprocessor to control the double closed-loop control of the four-state square wave modulation, the gyroscope is ensured to carry out temperature compensation on the gyroscope forward channel gain once in every 2 pi period under the input of any angular rate, and the stability of the gyroscope scale factor is improved.
Description
Technical Field
The invention relates to the technical field of signal processing of an interference type optical fiber gyroscope, in particular to a signal modulation and demodulation system of the interference type optical fiber gyroscope based on a RISC-V framework.
Background
The interference type fiber-optic gyroscope is widely applied to aerospace vehicles and military fields, such as aerospace, missile inertial navigation systems, unmanned aerial vehicle navigation and the like. The traditional control method needs to transmit voltage signals transmitted back to a photoelectric detector by an interference type fiber-optic gyroscope fiber ring to a logic control unit after filtering, amplifying and A/D (analog-to-digital) conversion, and controls a multifunctional photoelectric device Y waveguide in an optical path of the interference type fiber-optic gyroscope to generate modulation phase difference, so that the gyroscope works in a linear region.
The existing signal processing system for the interference type optical fiber gyroscope mainly comprises: the photoelectric detector, the filter amplifying circuit and the A/D (analog-to-digital conversion) and D/A conversion (digital-to-analog conversion) circuits; and secondly, the logic control unit is used for generating a digital closed-loop modulation signal, demodulating an interference type optical fiber gyro angular rate signal and sampling and outputting the signal.
Disclosure of Invention
In order to solve the technical problem of poor stability of the gyro scale factor in the prior art, an object of the present invention is to provide an interferometric fiber-optic gyro signal modulation and demodulation system based on RISC-V architecture, the modulation and demodulation system comprising: circuitry, the circuitry comprising an FPGA processor, an
A first feedback loop formed with the FPGA processor, a second digital-to-analog converter, and a feedback gain amplifier;
a second feedback loop formed with the FPGA processor, the first digital-to-analog converter, the second digital-to-analog converter and the feedback gain amplifier;
the first feedback loop introduces a non-reciprocal phase error which is used for compensating phase shift caused by rotation of an optical fiber ring of the interference type optical fiber gyroscope;
and after the second feedback loop carries out integral accumulation on the 2 pi reset error signal, the second feedback loop adds the 2 pi reset error signal to the reference voltage of the second digital-to-analog converter through the first digital-to-analog converter.
In a preferred embodiment, the modem system further comprises: an optical path system for the light source,
the optical path system comprises a light source, a coupler, a phase modulator and an optical fiber ring which are connected in sequence; the circuit system further comprises a photoelectric detector, a preamplifier and an analog-to-digital converter;
the photoelectric detector is connected with the coupler, the preamplifier is connected with the photoelectric detector, and the analog-to-digital converter is connected with the preamplifier to sample signals.
In a preferred embodiment, a 2 pi reset error signal is obtained by comparing the output values of the photodetector before and after reset.
In a preferred embodiment, the number of bits n of the analog-to-digital converter is at least greater than 12.
In a preferred embodiment, the circuitry further comprises a filter connected between the photodetector and the preamplifier.
In a preferred embodiment, the FPGA processor builds a RISC-V architecture, including a RISC-V processing core, and a control unit,
the control unit comprises a first feedback loop control unit and a second feedback loop control unit, wherein the first feedback loop control unit is used for generating a non-reciprocal phase error and compensating phase shift caused by rotation of an optical fiber ring of the interference type optical fiber gyroscope;
and the second feedback loop control unit is used for carrying out integral accumulation calculation on the 2 pi reset error signal.
In a preferred embodiment, the control unit further includes at least a light source driving control unit and a timing control unit.
The interference type optical fiber gyroscope signal modulation and demodulation system based on the RISC-V framework provided by the invention adopts the double closed loop control of the RISC-V microprocessor control four-state square wave modulation by designing the first feedback loop and the second feedback loop, ensures that the gyroscope can carry out one-time temperature compensation on the gyroscope forward channel gain every 2 pi period under the input of any angular rate, and improves the stability of the gyroscope scale factor.
According to the interference type fiber optic gyroscope signal modulation and demodulation system based on the RISC-V framework, a first feedback loop drives a first feedback loop control unit through a RISC-V processing core, a feedback phase shift digital quantity ((nonreciprocal phase error)) is generated to counteract phase difference generated by Sagnac effect (Sagnac effect), so that a gyroscope closed loop system works near a zero working point, and the maximum working linearity is guaranteed.
The invention provides an interference type fiber-optic gyroscope signal modulation and demodulation system based on RISC-V architecture, which is built by a reduced instruction set RISC-V architecture, adopts FPGA to realize a single-core 32-bit small RISC-V processor core, and adopts Verilog language to write; the processor is used for configuring the working states of the interference type optical fiber gyroscope with different requirements, and combining the optical path types of the interference type optical fiber gyroscope required by different environments, a user can configure a calling instruction to process the modulation signal of the interference type optical fiber gyroscope and demodulate the output angular rate signal of the interference type optical fiber gyroscope, so that the development efficiency of the interference type optical fiber gyroscope is improved, and the development period is shortened. The research and development cost of the signal processing part of the interference type optical fiber gyroscope is reduced, and technical support is provided for popularization and civil market of the interference type optical fiber gyroscope.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 schematically shows the overall structure of an interference type fiber-optic gyroscope signal modulation and demodulation system based on a RISC-V architecture.
FIG. 2 shows a schematic diagram of the RISC-V architecture built on the FPGA processor of the present invention.
Detailed Description
In order to make the above and other features and advantages of the present invention more apparent, the present invention is further described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are for purposes of illustration only and are not intended to be limiting.
In order to solve the technical problem of poor stability of the gyro scale factor in the prior art, as shown in fig. 1, an overall structure schematic diagram of an interference-type fiber-optic gyro signal modulation and demodulation system based on RISC-V architecture is provided, according to an embodiment of the present invention, an interference-type fiber-optic gyro signal modulation and demodulation system based on RISC-V architecture is provided, and the modulation and demodulation system includes: a circuit system and an optical path system.
The optical path system comprises a light source 2, a coupler 3, a phase modulator 5 and an optical fiber ring 6 which are connected in sequence. The circuitry includes a photodetector 4, a preamplifier 7, an analog-to-digital converter 10, an FPGA processor 1, a first digital-to-analog converter 8, a second digital-to-analog converter 9, and a feedback gain amplifier 11.
According to an embodiment of the invention, the FPGA processor 1, the second digital-to-analog converter 9 and the feedback gain amplifier 11 form a first feedback loop. A non-reciprocal phase error is introduced in the first feedback loop for compensating the phase shift caused by the rotation of the fiber ring 6 of the interferometric fiber optic gyroscope.
According to an embodiment of the invention, the FPGA processor 1, the first digital-to-analog converter 8, the second digital-to-analog converter 9 and the feedback gain amplifier 11 form a second feedback loop. The second feedback loop integrates and accumulates the 2 pi reset error signal, and the integrated signal is added to the reference voltage of the second digital-to-analog converter 9 by the first digital-to-analog converter 8.
According to the embodiment of the invention, the photodetector 4 is connected with the coupler 3, collects the optical signal output by the coupler, and converts the optical signal into an electrical signal. The preamplifier 7 is connected to the photodetector 4 and amplifies the electric signal. The analog-to-digital converter 10 is connected with the preamplifier 7, converts the electric signal into a digital signal, performs signal sampling, and transmits the acquired signal to the FPGA processor 1 for processing.
In some preferred embodiments, the circuitry further comprises a filter connected between the photodetector 4 and the preamplifier 7.
Referring to FIG. 2, a schematic diagram of the present invention is shown for building a RISC-V architecture on an FPGA processor. The FPGA processor 1 designs a RISC-V processor core 101 and a control unit 102 by a reduced instruction set architecture RISC-V. The FPGA processor 1 performs interferometric fiber optic gyroscope digital signal processing. The RISC-V architecture is built based on RTL (Register Transfer Level), and the functions of the RISC-V architecture are directly realized by an FPGA (field programmable gate array) programmable logic chip. The control unit 102 is written based on an HDL (Hardware Description Language) Language, and implements processing of signals.
According to an embodiment of the present invention, the RISC-V processor core 101 includes at least a general register set, an instruction interface, an operand interface, a data return interface, an operation request interface, and an operation completion/wait interface.
The control unit 102 includes a first feedback loop control unit, a second feedback loop control unit, an optical drive control unit, and a timing control unit.
In some preferred embodiments, the control unit 102 further includes at least a signal filtering unit, a signal amplifying unit, an asynchronous serial communication unit, and an analog-to-digital/digital-to-analog conversion unit.
According to the embodiment of the invention, the FPGA processor 1 generates the non-reciprocal phase error by the first feedback loop control unit of the control unit 102, and compensates the phase shift caused by the rotation of the fiber ring 6 of the interference type fiber optic gyroscope. The second feedback loop control unit of the control unit 102 is configured to perform integral accumulation calculation on the 2 pi reset error signal, where the 2 pi reset error signal is obtained by comparing output values of the photodetector 4 before and after reset.
The analog-to-digital converter 10 selects the number of bits.
According to an embodiment of the invention, the number of bits n of the analog-to-digital converter 10 is at least larger than 12. In a particular embodiment, the minimum useful signal amplitude of the square wave signal from the photodetector 4, which is characteristic of the angular rotation rate, is less than 0.1uV, with noise of the order mV, which needs to be amplified in order to be able to be picked up by the analog-to-digital converter (a/D circuit) 10 in order to perform the demodulation in the FPGA processor 1.
The signal output from the photodetector 4 can be expressed as: i (t) = I 0 ±I 0 sin(Δφ s (t)-Δφ f (t))。
The direct current component in the formula does not contain useful gyro information, and easily causes a subsequent gyro amplification circuit to be saturated. The filter and the preamplifier 7 filter the direct current component and amplify an output signal of the interference type fiber-optic gyroscope, and the output signal is collected by an analog-to-digital converter (A/D circuit) 10 so as to complete demodulation in the FPGA processor 1.
The working process of A/D is generally divided into sampling, holding, quantizing and encoding. Performance metrics include resolution, conversion accuracy, and speed. For an n-bit A/D, if the input voltage range is V min ≤V out ≤V max The minimum voltage for the A/D resolution is (V) max -V min )/(2 N -1). The transition time is the time interval from the start-up of the a/D to the output of the stable digital quantity.
Because the square wave signal representing the rotation information of the interference type optical fiber gyroscope is very weak, in the weak signal processing, the minimum resolution requirement of the A/D only needs to meet the minimum effective value less than the 1 sigma value of the pre-amplification noise. The standard noise deviation of the preamplifier is known to be 774nV/Hz, and the bandwidth of the passing signal is 1MHz. The noise introduced by the preamplifier 7 is therefore 0.774mV, and for an a/D input voltage range of 2.5V, the number of bits n required is at least:
the minimum integer of n calculated by the above formula is 12, i.e. the number n of bits of the analog-to-digital converter 10 is at least greater than 12.
In some embodiments, the communication uses an asynchronous serial communication mode, and the data format of the asynchronous serial communication consists of start bits, data bits, stop bits, and, in particular, parity bits.
The first feedback loop controls the process.
According to the embodiment of the invention, when the rotation angular rate is larger, the light intensity and the phase difference have obvious nonlinear relation, which is very unfavorable for the scale factor of the gyroscope, the dynamic range of the gyroscope can be greatly reduced, and in addition, the temperature drift influence of electronic elements in a circuit is considered, in order to improve the overall performance of the designed gyroscope, the gyroscope control mode adopts closed-loop design, so that the deviation is always near zero, and the precision and the anti-interference capability of a system can be improved.
According to an embodiment of the invention, the first feedback loop control unit generates a non-reciprocal phase error
Is introduced into the fiber optic ring 6 (the sensitive coil of the gyro) for compensating the Sagnac phase shift caused by the rotation of the fiber optic ring 10, namely: the phase difference between two rows of light waves propagated by the optical fiber rings 6 in opposite directions is always zero,
for introducing non-reciprocal phase errors
Then, the phase difference between the two lines of light waves propagated in opposite directions by the optical fiber rings 6;
to introduce non-reciprocal phase errors
Previously, the fiber loop 6 is phase-shifted between two arrays of light waves propagating towards each other. The output of the gyroscope is obtained by measuring this non-reciprocal phase error.
Before introducing the non-reciprocal phase error, the intensity of interference signals generated by two columns of propagated light waves added with the square wave bias signals is as follows:
the difference in light intensity between the two trains of waves is:
according to the light intensity difference of the two lines of waves, before introducing the nonreciprocal phase error, the light intensity change of the gyroscope output after adding the square wave bias signal and the phase difference of the Sagnac form sinusoidal change:
when in use
When the number of the grooves is small, the thickness of the groove is small,
the light intensity and the phase difference vary linearly. But when the rotation speed is relatively high,
the value is large, and the two values do not show a linear change relationship, so that the dynamic range of the gyro measurement is greatly reduced. In order to make the linear variation relationship, the fiber-optic gyroscope adopts a closed-loop feedback control scheme, and in a first feedback loop, the FPGA processor 1 drives a feedback loop control unit to generate a non-reciprocal phase error through the RISC-V processor core 101
Counteracting phase difference generated by Sagnac effect
The gyro closed-loop system works near a zero-position working point, and the maximum working linearity is ensured.
The second feedback loop controls the process.
Considering that the feedback gain amplifier 11 (operational amplifier) is easy to generate electronic drift, the half-wave voltage of the phase modulator 5 (Y waveguide) is unstable, the parameter stability of the electronic device is easy to be influenced by temperature, and the like, the channel gain is changed, and the instantaneity of 2 pi reset is further reduced. Therefore, to ensure 2 pi reset accuracy, it is necessary to introduce a second closed loop to achieve accurate 2 pi reset.
Calculation proves that a 2 pi reset error signal can be measured by comparing output values of the photoelectric detector 4 before and after reset.
In the second feedback loop, the FPGA processor 1 drives the two feedback loop control unit through the RISC-V processor core 101 to integrate and accumulate the 2 pi reset error signal and input the integrated and accumulated signal to the first digital-to-analog converter 8, and adds the value of the first digital-to-analog converter 8 to the reference voltage of the second digital-to-analog converter 9 of the first feedback loop.
After being amplified by the feedback gain amplifier 11 (operational amplifier), the digital closed-loop feedback of the second feedback loop can be realized through the phase modulator 5 (Y waveguide), so that proper 2 pi reset is realized.
The invention relates to a RISC-V architecture-based interference type optical fiber gyroscope signal modulation and demodulation system, which adopts a RISC-V microprocessor to control double closed loop control of four-state square wave modulation by designing a first feedback loop and a second feedback loop, ensures that the gyroscope can carry out temperature compensation on the gyroscope forward channel gain once per 2 pi period under the input of any angular rate, and improves the stability of a gyroscope scale factor.
In some embodiments of the invention, a user configuration system is developed and written by C language, so that the calling and the configuration of the working state of the interference type fiber-optic gyroscope signal modulation and demodulation system based on the RISC-V architecture are realized.
And the user configuration system is suitable for different interference type optical fiber gyroscope light path scenes by using a configuration chip to call signal control modules of different interference type optical fiber gyroscopes. The integrated package interference type optical fiber gyroscope RISC-V digital processing chip, the peripheral module and the interface circuit can be connected with the optical path part of the interference type optical fiber gyroscope in different application scenes.
And the user configuration system can configure the digital signal processing chip of the interference type optical fiber gyroscope to work in the working states of open loop/closed loop/multi-closed loop, light source drive control and the like according to the light path systems of different interference type optical fiber gyroscopes in different working states. The configuration and parameter adjustment of a signal control system of the digital open-loop interference type optical fiber gyroscope, the single closed-loop digital interference type optical fiber gyroscope, the double closed-loop digital four-state wave modulation and light source drive control interference type optical fiber gyroscope can be realized by setting calling programs with different operation modes.
The invention relates to a RISC-V architecture-based interference type fiber-optic gyroscope signal modulation and demodulation system, which is based on a reduced instruction set and replaces a logic control unit of a traditional interference type fiber-optic gyroscope signal processing system to generate an interference type fiber-optic gyroscope digital closed-loop modulation signal and a demodulation angular rate output signal. Through instruction configuration stored temporarily in advance, the interference type optical fiber gyroscope suitable for different scenes outputs different modulation waveforms, rectangular waves, four-state waves and sine waves (suitable for an open-loop interference type optical fiber gyroscope), and angular rate signals output by corresponding modulation signals are demodulated.
The invention relates to a RISC-V architecture-based signal modulation and demodulation system of an interference type fiber-optic gyroscope, which configures a required signal interface and a dual-closed-loop digital four-state wave modulation and light source driving configuration interface according to the most complex signal control system of the dual-closed-loop digital four-state wave modulation and light source driving control interference type fiber-optic gyroscope, and also ensures the sufficiency of hardware resources when the system operates in other modes.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (7)
1. An interference type fiber-optic gyroscope signal modulation and demodulation system based on RISC-V architecture, characterized in that the modulation and demodulation system comprises: circuitry, the circuitry comprising an FPGA processor, an
A first feedback loop formed with the FPGA processor, a second digital-to-analog converter, and a feedback gain amplifier;
a second feedback loop formed with the FPGA processor, the first digital-to-analog converter, the second digital-to-analog converter and the feedback gain amplifier;
the first feedback loop introduces a non-reciprocal phase error which is used for compensating phase shift caused by rotation of an optical fiber ring of the interference type optical fiber gyroscope;
and after the second feedback loop carries out integral accumulation on the 2 pi reset error signal, the second feedback loop adds the 2 pi reset error signal to the reference voltage of the second digital-to-analog converter through the first digital-to-analog converter.
2. The modem system of claim 1, further comprising: an optical path system for the light source,
the optical path system comprises a light source, a coupler, a phase modulator and an optical fiber ring which are connected in sequence; the circuit system further comprises a photoelectric detector, a preamplifier and an analog-to-digital converter;
the photoelectric detector is connected with the coupler, the preamplifier is connected with the photoelectric detector, and the analog-to-digital converter is connected with the preamplifier to sample signals.
3. The modem system of claim 2, wherein a 2 pi reset error signal is obtained by comparing output values of said photodetector before and after reset.
4. The modem system of claim 2, wherein the number of bits n of the analog-to-digital converter is at least greater than 12.
5. The modem system of claim 2, wherein the circuitry further comprises a filter coupled between the photodetector and the preamplifier.
6. The modem system of claim 1, wherein the FPGA processor implements a RISC-V architecture including a RISC-V processing core, and a control unit,
the control unit comprises a first feedback loop control unit and a second feedback loop control unit, wherein the first feedback loop control unit is used for generating a non-reciprocal phase error and compensating phase shift caused by rotation of an optical fiber ring of the interference type optical fiber gyroscope;
and the second feedback loop control unit is used for carrying out integral accumulation calculation on the 2 pi reset error signal.
7. The modem system according to claim 6, wherein said control unit further comprises at least a light source driving control unit and a timing control unit.
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