CN115900772B - Method and system for improving random walk coefficient of integrated optical gyroscope - Google Patents

Method and system for improving random walk coefficient of integrated optical gyroscope Download PDF

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CN115900772B
CN115900772B CN202310221383.4A CN202310221383A CN115900772B CN 115900772 B CN115900772 B CN 115900772B CN 202310221383 A CN202310221383 A CN 202310221383A CN 115900772 B CN115900772 B CN 115900772B
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CN115900772A (en
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左文龙
赵帅
杨正
左周
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707th Research Institute of CSIC
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Abstract

The invention relates to the technical field of optical gyroscopes, in particular to a method and a system for improving the random walk coefficient of an integrated optical gyroscope, which comprises the following steps: the light wave emitted by the broadband light source is divided into two light waves through the coupler, one light wave is transmitted to the modulator for phase modulation, and the other light wave is transmitted to the second detector to obtain the output power of the broadband light source or the wavelength of the broadband light source; after the interference light passes through the first detector, the interference light is transmitted to the digital processing module, and the digital processing module calculates Sagnac phase shift in the test period
Figure ZY_1
Noise value of (a)
Figure ZY_2
The total random walk coefficient of the optical gyroscope is kept to the minimum by changing the output power or wavelength of the broadband light source. The method and the system solve the problem that the random walk performance of the integrated optical gyroscope is deteriorated due to different noise influences, and promote the random walk coefficient of the integrated optical gyroscope.

Description

Method and system for improving random walk coefficient of integrated optical gyroscope
Technical Field
The invention relates to the technical field of optical gyroscopes, in particular to a method and a system for improving the random walk coefficient of an integrated optical gyroscope.
Background
Inertial navigation is an autonomous navigation technology based on inertial sensing devices, and is widely applied to the fields of aerospace, ship navigation, unmanned driving and the like. The gyroscope is an inertial sensitive device for detecting the rotation angular velocity of an object relative to an inertial reference system, is a core component in the inertial navigation system, and the performance of the gyroscope determines the positioning capability of the inertial navigation system to a great extent. Current miniaturized gyroscopes contain two important directions: firstly, a Micro-Electro-Machanical System (MEMS) gyroscope based on classical mechanics and secondly, a Micro-optical gyroscope based on an optical Sagnac effect. According to the development trend prediction of the American DARPA on the long-term inertial device in 2008, the middle-low precision gyro market after 20 years is mainly occupied by MEMS gyroscopes and micro-optical gyroscopes. However, the MEMS gyroscope structure has the disadvantages of short service life and weak vibration resistance due to the existence of the vibration component, which limits the application in some fields. The micro-optical gyroscope has the advantages that the micro-nano light and small structure of the optical gyroscope and the micro-nano light and small structure of the MEMS gyroscope are combined, and the micro-optical gyroscope can be applied to the fields of strong vibration and strong impact.
The random walk coefficient is an important parameter for measuring the static index of the optical gyroscope, and the white noise level of the optical gyroscope is evaluated to determine the minimum detectable amount of the optical gyroscope.
For interferometric integrated optical gyroscopes, the random walk coefficient refers to a gyro output error accumulated over time due to white noise, which is primarily affected by detector thermal noise, shot noise, relative intensity noise of the light source, and can be expressed as equation (1):
Figure SMS_1
(1)
wherein:
Figure SMS_4
is the total random walk coefficient, +.>
Figure SMS_5
Random walk coefficient for photodetector thermal noise, < >>
Figure SMS_10
For the random walk coefficient caused by shot noise, < ->
Figure SMS_3
A random walk coefficient caused by light source intensity noise; />
Figure SMS_7
Is Boltzmann constant, & gt>
Figure SMS_8
For thermodynamic temperature, ++>
Figure SMS_11
For collapsing the detector, a resistor is +.>
Figure SMS_2
For the intensity of photocurrent noise output on the photodetector, and (2)>
Figure SMS_6
Is light source spectrum wide, < >>
Figure SMS_9
For the bandwidth of the photodetector, +.>
Figure SMS_12
Is the electron quantity.
According to the Sagnac effect, the loop length and diameter of the sensitive ring directly influence the accuracy of the gyroscope, and the Sagnac phase shift of the optical gyroscope detection
Figure SMS_13
And sensitive rotational speed->
Figure SMS_14
The relationship of (2) can be expressed as:
Figure SMS_15
(2)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_16
the wavelength of the broadband light source is c is the speed of light in vacuum, L is the length of the sensitive ring, and D is the diameter of the sensitive ring.
As can be seen from equation (1) above, the total random walk coefficient of the interferometric integrated optical gyroscope comprises three different sources, each contributing differently to the gyroscope random walk coefficient. At present, the improvement of random walk performance of an interference type integrated optical gyroscope faces three difficulties:
1. the integration limits the effective area of the sensitive ring, so that the accuracy of the gyroscope is limited in terms of Sangnac principle, and the random walk performance of the gyroscope is limited;
2. the scheme of the optical gyro optical system cannot effectively inhibit three different noise sources in the formula (1) due to integration;
3. the influence caused by noise sources cannot be effectively filtered in the digital resolving process of the optical gyroscope.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a system for improving the random walk coefficient of an integrated optical gyroscope, which solve the problem of the deterioration of the random walk performance of the integrated optical gyroscope caused by different noise influences by controlling and adjusting the output power of a broadband light source or the wavelength of the broadband light source and improve the random walk coefficient of the integrated optical gyroscope.
The invention is realized by the following technical scheme:
a method of enhancing the random walk coefficient of an integrated optical gyroscope, comprising the steps of:
s1: the light wave emitted by the broadband light source is divided into two light waves through the coupler, one light wave is transmitted to the modulator and is modulated by the modulator in phase, the two light waves are divided into two light waves to be transmitted in opposite directions in the sensitive ring, then the two light waves reach the modulator to be modulated in phase to form interference light, the interference light returns to the coupler, the other light wave is transmitted to the second detector, the output current is amplified through the second operational amplifier, the signal is transmitted to the digital processing module after being subjected to mode conversion through the second AD converter, and the digital processing module acquires and calculates the signal and obtains the output power of the broadband light source or the wavelength of the broadband light source after twice the signal;
s2: the interference light of the return coupler is subjected to photoelectric conversion to output current through a first detector, the output current is amplified through a first operational amplifier, the output current is subjected to mode conversion through a first AD converter and is transmitted to a digital processing module, and the digital processing module acquires and solves the signal to obtain Sagnac phase shift
Figure SMS_17
On the one hand, the serial port transmitting module directly outputs the digital signals, and the digital signals are transmitted to the DA module to perform digital-to-analog conversion, enter the rear-stage operational amplifier and then are input into the modulator, and the modulator generates feedback phase shift in the optical path system>
Figure SMS_18
The Sagnac phase shift +.A. caused by the external input angular velocity counteracting the sensitivity of the sensitive loop>
Figure SMS_19
Enabling the gyro to work at a zero phase;
s3: step S2, the digital processing module calculates Sagnac phase shift in a test period
Figure SMS_20
Noise value +.>
Figure SMS_21
And will->
Figure SMS_22
Basic precision value of optical gyro->
Figure SMS_23
Comparison, if->
Figure SMS_24
The broadband light source is kept in the original state if +.>
Figure SMS_25
Step S4 is skipped, if +.>
Figure SMS_26
Step S5, jumping to the step;
s4: the digital processing module controls the light source driving current control module to increase the output light power of the broadband light source or controls the light source temperature current control module to increase the internal temperature of the broadband light source, and then recalculates the Sagnac phase shift in the next test period
Figure SMS_40
Noise value +.>
Figure SMS_28
Will->
Figure SMS_37
And->
Figure SMS_42
Comparing if->
Figure SMS_46
The digital processing module controls the light source driving current control module to continuously increase the output light power of the broadband light source or controls the light source temperature current control module to continuously increase the internal temperature of the broadband light source until +.>
Figure SMS_43
The adjustment process is finished, and the output light power of the broadband light source is set to be noise value +.>
Figure SMS_48
The optical power or broadband light source output wavelength at the time is noise value +.>
Figure SMS_35
Wavelength at the time->
Figure SMS_38
The digital processing module controls the light source driving current control module to reduce the output light power of the broadband light source or controls the light source temperature current control module to reduce the internal temperature of the broadband light source, and the noise value is calculated again>
Figure SMS_27
And will->
Figure SMS_31
And->
Figure SMS_29
Comparison, if->
Figure SMS_32
The adjustment process is endedSetting the output light power of the broadband light source as noise value +.>
Figure SMS_36
The optical power or broadband light source output wavelength at the time is noise value +.>
Figure SMS_39
Wavelength at the time if->
Figure SMS_44
Repeatedly controlling the light source driving current control module to increase the output light power of the broadband light source or controlling the light source temperature current control module to continuously increase the internal temperature of the broadband light source, and calculating the noise value +.>
Figure SMS_49
Comparing at this time +.>
Figure SMS_45
And->
Figure SMS_47
If->
Figure SMS_30
The adjustment process is ended and the output light power of the broadband light source is set to be the noise value +.>
Figure SMS_33
The optical power or the output wavelength of the broadband light source is the noise value
Figure SMS_34
Wavelength at time>
Figure SMS_41
Representing the number of test periods;
s5: the digital processing module controls the light source driving current control module to reduce the output light power of the broadband light source or controls the light source temperature current control module to reduce the internal temperature of the broadband light source, and then recalculates the Sagnac phase shift in the next period
Figure SMS_62
Noise value +.>
Figure SMS_56
Will->
Figure SMS_58
And->
Figure SMS_67
Comparing if->
Figure SMS_69
The digital processing module controls the light source driving current control module to reduce the output light power of the broadband light source or controls the light source temperature current control module to continuously reduce the internal temperature of the broadband light source until +.>
Figure SMS_68
The adjustment process is ended and the output light power of the broadband light source is set to be the noise value +.>
Figure SMS_71
The optical power or the output wavelength of the broadband light source at the time is noise value +.>
Figure SMS_63
Wavelength at the time->
Figure SMS_66
The digital processing module controls the light source driving current control module to increase the output light power of the broadband light source or controls the light source temperature current control module to increase the internal temperature of the broadband light source, and the noise value is calculated again>
Figure SMS_50
And will->
Figure SMS_59
And->
Figure SMS_60
Comparison, if->
Figure SMS_64
Then adjustAt the end of the whole process, the output light power of the broadband light source is set to be noise value +.>
Figure SMS_65
The optical power or broadband light source output wavelength at the time is noise value +.>
Figure SMS_70
Wavelength at the time if->
Figure SMS_52
Repeatedly increasing the light power of the broadband light source or increasing the internal temperature of the broadband light source, and calculating the noise value +.>
Figure SMS_55
Comparing at this time +.>
Figure SMS_57
And->
Figure SMS_61
If->
Figure SMS_51
The adjustment process is ended and the output light power of the broadband light source is set to be the noise value +.>
Figure SMS_54
The optical power or the output wavelength of the broadband light source at the time is noise value +.>
Figure SMS_53
Wavelength at that time.
Preferably, in step S3, a test period is 100 seconds.
Further, in the process of increasing the output light power of the broadband light source or increasing the internal temperature of the light source in the steps S4 and S5, if the output light power of the broadband light source or the internal temperature of the light source reaches a preset maximum value, the adjustment process is ended, and the maximum light power is used as the output light power of the gyro broadband light source or the wavelength at the time of using the internal temperature of the highest light source is used as the wavelength of the gyro broadband light source; in the step S4, S5, in the process of reducing the output light power of the broadband light source or reducing the internal temperature of the light source, if the output light power of the broadband light source or the internal temperature of the light source reaches a preset minimum value, the adjustment process is ended, and the minimum light power is used as the output light power of the broadband light source, or the wavelength at the internal temperature of the lowest light source is used as the wavelength of the gyro broadband light source.
Further, the first detector is a photoelectric detector, and the second detector adopts a power detector when the output power of the broadband light source needs to be detected, and adopts a wavelength detector when the wavelength of the broadband light source needs to be detected.
A system for improving the random walk coefficient of an integrated optical gyroscope is used for executing the method for improving the random walk coefficient of the integrated optical gyroscope, and comprises a broadband light source, a coupler, a modulator, a sensitive loop, a digital processing module, a first detector, a second detector, a light source driving current control module and a light source temperature current control module.
Further, the broadband light source is provided with a thermistor, a light emitting diode and a Peltier which are sequentially stuck, the light emitting diode is connected with the light source driving current control module, and the Peltier and the thermistor are respectively connected with the light source temperature current control module.
The invention has the beneficial effects that:
the method and the system for improving the random walk coefficient of the integrated optical gyroscope provided by the invention adopt a two-path detector detection technology to adjust the output power of the broadband light source or the wavelength of the broadband light source, so that the total random walk coefficient of the optical gyroscope is kept at the minimum value, the problem that the random walk performance of the integrated optical gyroscope is deteriorated due to different noise influences of the interference type integrated optical gyroscope is solved, and the random walk coefficient of the integrated optical gyroscope is improved.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Fig. 2 is a schematic diagram of the broadband light source structure of the present invention.
In the figure: 1. the system comprises a broadband light source, a coupler, a second detector, a modulator, a sensitive loop, a rear-stage operational amplifier, a 7-DA converter, a serial port transmitting module, a digital processing module, a second AD converter, a second operational amplifier, a first AD converter, a first operational amplifier, a light source temperature control module, a light source driving current control module, a first detector, a light emitting diode, a Peltier device and a thermistor.
Detailed Description
A method of enhancing the random walk coefficient of an integrated optical gyroscope, comprising the steps of:
s1: the light wave emitted by the broadband light source is divided into two light waves through the coupler, one light wave is transmitted to the modulator and is modulated by the modulator in phase, the two light waves are divided into two light waves to be transmitted in opposite directions in the sensitive ring, then the two light waves reach the modulator to be modulated in phase to form interference light, the interference light returns to the coupler, the other light wave is transmitted to the second detector, the output current is amplified through the second operational amplifier, the signal is transmitted to the digital processing module after being subjected to mode conversion through the second AD converter, and the digital processing module acquires and calculates the signal and obtains the output power of the broadband light source or the wavelength of the broadband light source after twice the signal;
s2: the interference light of the return coupler is subjected to photoelectric conversion to output current through a first detector, the output current is amplified through a first operational amplifier, the output current is subjected to mode conversion through a first AD converter and is transmitted to a digital processing module, and the digital processing module acquires and solves the signal to obtain Sagnac phase shift
Figure SMS_72
On the one hand, the serial port transmitting module directly outputs the digital signals, and the digital signals are transmitted to the DA module to perform digital-to-analog conversion, enter the rear-stage operational amplifier and then are input into the modulator, and the modulator generates feedback phase shift in the optical path system>
Figure SMS_73
The Sagnac phase shift +.A. caused by the external input angular velocity counteracting the sensitivity of the sensitive loop>
Figure SMS_74
Enabling the gyro to work at a zero phase; />
S3: step S2, the digital processing module calculates Sagnac phase shift in a test period
Figure SMS_75
Noise value +.>
Figure SMS_76
And will->
Figure SMS_77
Basic precision value of optical gyro->
Figure SMS_78
Comparison, if->
Figure SMS_79
The broadband light source is kept in the original state if +.>
Figure SMS_80
Step S4 is skipped, if +.>
Figure SMS_81
Step S5, jumping to the step;
the digital processing module calculates the Sagnac phase shift in a test period
Figure SMS_82
Noise value +.>
Figure SMS_83
At that time, the calculation is performed according to formula (3):
Figure SMS_84
（3）
wherein: i is the Sagnac phase shift obtained during a test period
Figure SMS_85
Number of numerical values->
Figure SMS_86
For Sagnac phase shift->
Figure SMS_87
Average value of>
Figure SMS_88
Representing the number of test periods.
S4: the digital processing module controls the light source driving current control module to increase the output light power of the broadband light source or controls the light source temperature current control module to increase the internal temperature of the broadband light source, and then recalculates the Sagnac phase shift in the next test period
Figure SMS_102
Noise value +.>
Figure SMS_91
Will->
Figure SMS_97
And->
Figure SMS_92
Comparing if->
Figure SMS_94
The digital processing module controls the light source driving current control module to continuously increase the output light power of the broadband light source or controls the light source temperature current control module to continuously increase the internal temperature of the broadband light source until +.>
Figure SMS_96
The adjustment process is finished, and the output light power of the broadband light source is set to be noise value +.>
Figure SMS_100
The optical power or broadband light source output wavelength at the time is noise value +.>
Figure SMS_95
Wavelength at the time->
Figure SMS_98
The digital processing module controls the light source driving current control module to reduce the output light power of the broadband light source or controls the light source temperature current control module to reduce the internal temperature of the broadband light source, and the noise value is calculated again>
Figure SMS_89
And will->
Figure SMS_93
And->
Figure SMS_101
Comparing, if
Figure SMS_103
The adjustment process is finished, and the output light power of the broadband light source is set to be the noise value +.>
Figure SMS_104
The optical power or broadband light source output wavelength at the time is noise value +.>
Figure SMS_107
Wavelength at the time if->
Figure SMS_105
Repeatedly controlling the light source driving current control module to increase the output light power of the broadband light source or controlling the light source temperature current control module to continuously increase the internal temperature of the broadband light source, and calculating the noise value +.>
Figure SMS_108
Comparing at this time +.>
Figure SMS_109
And->
Figure SMS_111
If->
Figure SMS_90
The adjustment process is ended and the output light power of the broadband light source is set to be the noise value +.>
Figure SMS_99
The optical power or the output wavelength of the broadband light source is the noise value
Figure SMS_106
Wavelength at time>
Figure SMS_110
Representing the number of test periods;
s5: the digital processing module controls the light source driving current control module to reduce the output light power of the broadband light source or controls the light source temperature current control module to reduce the internal temperature of the broadband light source, and then recalculates the Sagnac phase shift in the next period
Figure SMS_128
Noise value +.>
Figure SMS_131
Will->
Figure SMS_134
And->
Figure SMS_112
Comparing if/>
Figure SMS_117
The digital processing module controls the light source driving current control module to reduce the output light power of the broadband light source or controls the light source temperature current control module to continuously reduce the internal temperature of the broadband light source until +.>
Figure SMS_119
The adjustment process is ended and the output light power of the broadband light source is set to be the noise value +.>
Figure SMS_123
The optical power or the output wavelength of the broadband light source at the time is noise value +.>
Figure SMS_113
Wavelength at the time->
Figure SMS_118
The digital processing module controls the light source driving current control module to increase the output light power of the broadband light source or controls the light source temperature current control module to increase the internal temperature of the broadband light source, and the noise value is calculated again>
Figure SMS_121
And will->
Figure SMS_124
And->
Figure SMS_127
Comparison, if->
Figure SMS_130
The adjustment process is finished, and the output light power of the broadband light source is set to be the noise value +.>
Figure SMS_133
The optical power or broadband light source output wavelength at the time is noise value +.>
Figure SMS_136
Wavelength at the time if->
Figure SMS_129
Repeatedly increasing the light power of the broadband light source or increasing the internal temperature of the broadband light source, and calculating the noise value +.>
Figure SMS_132
Comparing at this time +.>
Figure SMS_135
And->
Figure SMS_137
If->
Figure SMS_114
The adjustment process is ended and the output light power of the broadband light source is set to be the noise value +.>
Figure SMS_116
The optical power or the output wavelength of the broadband light source at the time is noise value +.>
Figure SMS_120
Wavelength at that time. Noise value->
Figure SMS_126
The optical power at the time is the second detector at the +.>
Figure SMS_115
Output power of broadband light source detected in test period, noise value +.>
Figure SMS_122
The wavelength at which the second detector is at +.>
Figure SMS_125
The wavelength of the broadband light source detected by the test period.
The interferometric integrated optical gyroscope adopts a four-state square wave for modulation and demodulation, the frequency of a modulation signal is the eigenfrequency of a sensitive ring, and the output signal on a first detector of the integrated optical gyroscope can be expressed as formula (4):
Figure SMS_138
（4）
wherein:
Figure SMS_139
for sensitive Sagnac phase, +.>
Figure SMS_140
To bias the phase +.>
Figure SMS_141
For the light intensity detected by the first detector, < >>
Figure SMS_142
An initial value of the intensity of light emitted by the broadband light source.
When the integrated optical gyroscope performs random walk coefficient test, the integrated optical gyroscope can be in a static state, and then
Figure SMS_143
The output signal on the first detector can thus be expressed as equation (5):
Figure SMS_144
（5）
substituting formula (5) into formula (1) yields formula (6):
Figure SMS_145
Figure SMS_146
（6）
order the
Figure SMS_147
，/>
Figure SMS_148
，/>
Figure SMS_149
，/>
Figure SMS_150
Then formula (6) can be represented as formula (7):
Figure SMS_151
（7）
wherein:
Figure SMS_154
for the set argument, there is no actual physical meaning, +.>
Figure SMS_156
、/>
Figure SMS_158
、/>
Figure SMS_153
The set independent variable coefficient has no actual physical meaning; formula (7) shows that the interferometric optical gyro random walk coefficient can be regarded as a +.>
Figure SMS_155
As a unitary quadratic function of the argument, it can be seen from the curve of the unitary quadratic function that +.>
Figure SMS_157
At > 0>
Figure SMS_159
Has a minimum value +.>
Figure SMS_152
Namely formula (8):
Figure SMS_160
（8）/>
it follows that by optimizing the bandwidth of the photodetector
Figure SMS_161
Light intensity->
Figure SMS_162
The spectrum shape of the light source can improve the random walk performance of the integrated optical gyroscope, so that +.>
Figure SMS_163
Reaching the minimum +.>
Figure SMS_164
。
Because the wavelength in the light source spectrum shape has a linear relation with the temperature of the light source, the light source spectrum shape can be optimized by adjusting the temperature of the broadband light source, so that the random walk performance of the integrated optical gyroscope is improved.
Therefore, the first detector is responsible for collecting the output current of the system, the light intensity state of the light path of the gyro system is judged through the output current of the first detector, and the light intensity state of the light path of the gyro system is calculated by the digital processing module to obtain the Sagnac interference phase state caused by the sensitive external input angular velocity of the gyro light path system, so that the corresponding module is controlled to change the output power or the temperature of the broadband light source, namely, the output power or the temperature of the broadband light source is controlled
Figure SMS_165
And the spectrum shape of the broadband light source can enable the total random walk coefficient of the optical gyroscope to reach the minimum value, the total random walk coefficient is detected by the second detector, the output power or wavelength of the broadband light source at the moment is calculated through the digital processing module, and the output power or wavelength of the broadband light source is stabilized at the value, so that the total random walk coefficient of the optical gyroscope is kept at the minimum value, the problem that the random walk performance of the optical gyroscope is deteriorated due to the influence of different noises is solved, and the random walk coefficient of the integrated optical gyroscope is improved.
Preferably, in step S3, a test period is 100 seconds.
Further, in the process of increasing the output light power of the broadband light source or increasing the internal temperature of the light source in the steps S4 and S5, if the output light power of the broadband light source or the internal temperature of the light source reaches a preset maximum value, the adjustment process is ended, and the maximum light power is used as the output light power of the gyro broadband light source or the wavelength at the time of using the internal temperature of the highest light source is used as the wavelength of the gyro broadband light source; in the process of reducing the output light power of the broadband light source or reducing the internal temperature of the light source in the steps S4 and S5, if the output light power of the broadband light source or the internal temperature of the light source reaches a preset minimum value, the adjustment process is ended, and the minimum light power is used as the output light power of the broadband light source or the wavelength at the time of the internal temperature of the minimum light source is used as the wavelength of the gyro broadband light source, so that the broadband light source can be controlled to always work in an optimal state within an allowable range.
A system for improving the random walk coefficient of an integrated optical gyro is used for executing the method for improving the random walk coefficient of the integrated optical gyro, and the specific structure diagram is shown in the figure 1, and comprises a broadband light source 1, a coupler 2, a modulator 4, a sensitive ring 5, a digital processing module 9, a first detector 16, a second detector 3, a light source driving current control module 15 and a light source temperature current control module 14, wherein the output end of the broadband light source is coupled with the input end of the coupler, the first output end of the coupler is coupled with the input end of the modulator, the second output end of the coupler is coupled with the input end of the second detector, two tail fibers of the modulator are respectively coupled with two tail fibers of the sensitive ring, the input end of the first detector is coupled with the detection end of the coupler, the output end of the second detector is coupled with the input end of the digital processing module sequentially through the second operational amplifier 11 and the second AD converter 10, the output end of the first detector is coupled with the input end of the digital processing module sequentially through the first operational amplifier 13 and the first AD converter 12, the feedback end of the digital processing module is coupled with the input end of the DA converter 7, the output end of the DA converter is coupled with the input end of the rear operational amplifier 6, the output end of the rear operational amplifier is coupled with the feedback end of the modulator, the output end of the digital processing module is coupled with the input end of the serial port transmitting module 8, the control end of the digital processing module is coupled with the input end of the light source driving current control module or the light source temperature current control module, and the output end of the light source driving current control module or the light source temperature current control module is coupled with the input end of the broadband light source.
Further, the first detector is a photoelectric detector, and the second detector adopts a power detector when the output power of the broadband light source needs to be detected, and adopts a wavelength detector when the wavelength of the broadband light source needs to be detected. When the digital processing module controls the light source driving current control module to change the output power of the broadband light source, the light source temperature current control module keeps the original state motionless, and when the digital processing module controls the light source temperature current control module to change the temperature of the broadband light source, the light source driving current control module keeps the original state motionless.
Further, the specific structure schematic diagram of the broadband light source is shown in fig. 2, and the broadband light source comprises a thermistor 19, a light emitting diode 17 and a peltier 18 which are sequentially stuck, wherein the light emitting diode is connected with a light source driving current control module, and the peltier and the thermistor are respectively connected with a light source temperature current control module. When the digital processing module calculates and needs to adjust the output power of the broadband light source, the digital processing module controls the light source driving current control module to change the current passing through the light emitting diode so as to adjust the output power of the broadband light source, when the digital processing module calculates and needs to adjust the wavelength of the broadband light source, the digital processing module controls the light source temperature current control module to change the current flowing into or flowing out of the Peltier so as to adjust the temperature of the broadband light source, then the adjustment of the wavelength of the broadband light source is realized, and the thermistor is responsible for feeding back the temperature information of the broadband light source to the light source temperature current control module so as to realize the accurate control of the light source temperature current control module.
In summary, the method and the system for improving the random walk coefficient of the integrated optical gyroscope provided by the invention adopt a two-path detector detection technology to adjust the output power of the broadband light source or the wavelength of the broadband light source, so that the total random walk coefficient of the optical gyroscope is kept at the minimum value, the problem that the random walk performance of the integrated optical gyroscope is deteriorated due to different noise effects of the interference type integrated optical gyroscope is solved, and the random walk coefficient of the integrated optical gyroscope is improved.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. The method for improving the random walk coefficient of the integrated optical gyroscope is characterized by comprising the following steps of: the method comprises the following steps:
s1: the light wave emitted by the broadband light source is divided into two light waves through the coupler, one light wave is transmitted to the modulator and is modulated by the modulator in phase, the two light waves are divided into two light waves to be transmitted in opposite directions in the sensitive ring, then the two light waves reach the modulator to be modulated in phase to form interference light, the interference light returns to the coupler, the other light wave is transmitted to the second detector, the output current is amplified through the second operational amplifier, the signal is transmitted to the digital processing module after being subjected to mode conversion through the second AD converter, and the digital processing module acquires and calculates the signal and obtains the output power of the broadband light source or the wavelength of the broadband light source after twice the signal;
s2: the interference light of the return coupler is subjected to photoelectric conversion to output current through a first detector, the output current is amplified through a first operational amplifier, the output current is subjected to mode conversion through a first AD converter and is transmitted to a digital processing module, and the digital processing module acquires and solves the signal to obtain Sagnac phase shift
Figure QLYQS_1
On the one hand, the serial port transmitting module directly outputs the digital signals, and the digital signals are transmitted to the DA module to perform digital-to-analog conversion, enter the rear-stage operational amplifier and then are input into the modulator, and the modulator generates feedback phase shift in the optical path system>
Figure QLYQS_2
The Sagnac phase shift +.A. caused by the external input angular velocity counteracting the sensitivity of the sensitive loop>
Figure QLYQS_3
Enabling the gyro to work at a zero phase;
s3: step S2, the digital processing module calculates Sagnac phase shift in a test period
Figure QLYQS_4
Noise value +.>
Figure QLYQS_5
And will->
Figure QLYQS_6
Basic precision value of optical gyro->
Figure QLYQS_7
Comparison, if->
Figure QLYQS_8
The broadband light source is kept in the original state if +.>
Figure QLYQS_9
Step S4 is skipped, if +.>
Figure QLYQS_10
Step S5, jumping to the step;
s4: the digital processing module controls the light source driving current control module to increase the output light power of the broadband light source or controls the light source temperature current control module to increase the internal temperature of the broadband light source, and then recalculates the Sagnac phase shift in the next test period
Figure QLYQS_27
Noise value +.>
Figure QLYQS_20
Will->
Figure QLYQS_23
And->
Figure QLYQS_22
Comparing if->
Figure QLYQS_26
The digital processing module controls the light source driving current control module to continuously increase the output light power of the broadband light source or controls the light source temperature current control module to continuously increase the internal temperature of the broadband light source until +.>
Figure QLYQS_29
After the adjustment process is finished, the output light power of the broadband light source is set to be the noise value
Figure QLYQS_33
The optical power or broadband light source output wavelength at the time is noise value +.>
Figure QLYQS_21
Wavelength at the time->
Figure QLYQS_24
The digital processing module controls the light source driving current control module to reduce the output light power of the broadband light source or controls the light source temperature current control module to reduce the internal temperature of the broadband light source, and the noise value is calculated again>
Figure QLYQS_11
And will->
Figure QLYQS_15
And->
Figure QLYQS_28
Comparing, if
Figure QLYQS_31
The adjustment process is finished, and the output light power of the broadband light source is set to be the noise value +.>
Figure QLYQS_30
The optical power or broadband light source output wavelength at the time is noise value +.>
Figure QLYQS_32
Wavelength at the time if->
Figure QLYQS_13
Repeatedly controlling the light source driving current control module to increase the output light power of the broadband light source or controlling the light source temperature current control module to continuously increase the internal temperature of the broadband light source, and calculating the noise value +.>
Figure QLYQS_18
Comparing at this time +.>
Figure QLYQS_19
And->
Figure QLYQS_25
If->
Figure QLYQS_12
The adjustment process is ended and the output light power of the broadband light source is set to be the noise value +.>
Figure QLYQS_17
The optical power or the output wavelength of the broadband light source is the noise value
Figure QLYQS_14
Wavelength at time>
Figure QLYQS_16
Representing the number of test periods;
s5: the digital processing module controls the light source driving current control module to reduce the output light power of the broadband light source or controls the light source temperature current control module to reduce the internal temperature of the broadband light source, and then recalculates the Sagnac phase shift in the next period
Figure QLYQS_44
Noise value +.>
Figure QLYQS_36
Will->
Figure QLYQS_41
And->
Figure QLYQS_35
Comparing if->
Figure QLYQS_38
The digital processing module controls the light source driving current control module to reduce the output light power of the broadband light source or controls the light source temperature current control module to continuously reduce the internal temperature of the broadband light source until +.>
Figure QLYQS_45
The adjustment process is ended and the output light power of the broadband light source is set to be the noise value +.>
Figure QLYQS_52
The optical power or the output wavelength of the broadband light source at the time is noise value +.>
Figure QLYQS_42
Wavelength at the time->
Figure QLYQS_47
The digital processing module controls the light source driving current control module to increase the output light power of the broadband light source or controls the light source temperature current control module to increase the internal temperature of the broadband light source, and the noise value is calculated again>
Figure QLYQS_34
And will->
Figure QLYQS_39
And->
Figure QLYQS_48
Comparison, if->
Figure QLYQS_51
The adjustment process is finished, and the output light power of the broadband light source is set to be the noise value +.>
Figure QLYQS_53
The optical power or broadband light source output wavelength at the time is noise value +.>
Figure QLYQS_55
Wavelength at the time if->
Figure QLYQS_46
Repeatedly increasing the light power of the broadband light source or increasing the internal temperature of the broadband light source, and calculating the noise value +.>
Figure QLYQS_49
Comparing at this time +.>
Figure QLYQS_50
And->
Figure QLYQS_54
If->
Figure QLYQS_37
The adjustment process is ended and the output light power of the broadband light source is set to be the noise value +.>
Figure QLYQS_40
The optical power or the output wavelength of the broadband light source at the time is noise value +.>
Figure QLYQS_43
Wavelength at that time.
2. A method of enhancing integrated optic gyro random walk coefficients as claimed in claim 1 wherein: in the step S4, S5, in the process of increasing the output light power of the broadband light source or increasing the internal temperature of the light source, if the output light power of the broadband light source or the internal temperature of the light source reaches a preset maximum value, the adjustment process is finished, and the maximum light power is adopted as the output light power of the gyro broadband light source or the wavelength at the time of adopting the internal temperature of the highest light source is adopted as the wavelength of the gyro broadband light source; in the step S4, S5, in the process of reducing the output light power of the broadband light source or reducing the internal temperature of the light source, if the output light power of the broadband light source or the internal temperature of the light source reaches a preset minimum value, the adjustment process is ended, and the minimum light power is used as the output light power of the broadband light source, or the wavelength at the internal temperature of the lowest light source is used as the wavelength of the gyro broadband light source.
3. A method of enhancing integrated optic gyro random walk coefficients as claimed in claim 1 wherein: in step S3, a test period is 100 seconds.
4. A method of enhancing integrated optic gyro random walk coefficients as claimed in claim 1 wherein: the first detector is a photoelectric detector, the second detector adopts a power detector when the output power of the broadband light source needs to be detected, and the second detector adopts a wavelength detector when the wavelength of the broadband light source needs to be detected.
5. A method of enhancing integrated optic gyro random walk coefficients as claimed in claim 1 wherein: the broadband light source is provided with a thermistor, a light emitting diode and a Peltier which are sequentially stuck, the light emitting diode is connected with the light source driving current control module, and the Peltier and the thermistor are respectively connected with the light source temperature current control module.
6. A system for enhancing integrated optic gyro random walk coefficients for performing a method of enhancing integrated optic gyro random walk coefficients as claimed in any one of claims 1 to 5, wherein: the device comprises a broadband light source, a coupler, a modulator, a sensitive ring, a digital processing module, a first detector, a second detector, a light source driving current control module and a light source temperature current control module, wherein the output end of the broadband light source is coupled with the input end of the coupler, the first output end of the coupler is coupled with the input end of the modulator, the second output end of the coupler is coupled with the input end of the second detector, two tail fibers of the modulator are respectively coupled with the two tail fibers of the sensitive ring, the input end of the first detector is coupled with the detection end of the coupler, the output end of the second detector is coupled with the input end of the digital processing module sequentially through a second operational amplifier and a second AD converter, the output end of the first detector is coupled with the input end of the digital processing module sequentially through the first operational amplifier and the first AD converter, the output end of the digital processing module is coupled with the input end of the DA converter, the output end of the DA converter is coupled with the input end of a rear-stage operational amplifier, the output end of the rear-stage operational amplifier is coupled with the feedback end of the modulator is coupled with the feedback end of the digital processing module, the output end of the DA converter is coupled with the light source driving current control module or the light source temperature control module is coupled with the light source driving current control module.
7. The system for enhancing the random walk coefficient of an integrated optical gyroscope of claim 6, wherein: the broadband light source comprises a thermistor, a light emitting diode and a Peltier which are sequentially stuck, the light emitting diode is connected with the light source driving current control module, and the Peltier and the thermistor are respectively connected with the light source temperature current control module.
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