CN116045947B - Method for demodulating fiber optic gyroscope based on multistage integral circuit and fiber optic gyroscope - Google Patents
Method for demodulating fiber optic gyroscope based on multistage integral circuit and fiber optic gyroscope Download PDFInfo
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Abstract
The invention relates to the technical field of fiber-optic gyroscopes, in particular to a method for demodulating a fiber-optic gyroscope based on a multistage integral circuit and the fiber-optic gyroscope, which comprises the following steps: after reaching the Y waveguide modulator through the coupler, the light output by the light source is divided into two beams of light which are transmitted in the optical fiber ring, and then the two beams of light return to the Y waveguide modulator to form interference light, the interference light enters the photoelectric detector through the coupler, the photoelectric detector converts the light signal into a voltage signal, and a multistage integral demodulation circuit forms a multistage voltage signal with two stages or more than two stages; and transmitting the signals acquired in each stage of holding stage to an AD converter, and modulating and demodulating by a modem to form a closed loop. The method provided by the invention does not need to adopt an oversampling technology to inhibit gyro noise, enables the AD converter to work at a lower clock frequency, can select an AD converter with higher digits to reduce digital noise of a system, and improves gyro precision.
Description
Technical Field
The invention relates to the technical field of fiber-optic gyroscopes, in particular to a method for demodulating a fiber-optic gyroscope based on a multistage integral circuit and the fiber-optic gyroscope.
Background
Because the intrinsic frequency of the fiber optic gyro loop can shift along with factors such as temperature, and the digital circuit for generating square waves in the modulation and demodulation process has the problems of retrace time and the like, asymmetrical spike pulses can be generated at the detector end. The asymmetric spike pulse not only limits the selection of a pre-amplifier, but also brings harmonic interference into the data acquisition process, so that the sampling interval is narrowed, and the sampling duty ratio is reduced. And secondly, the traditional modulation and demodulation mode has too high requirement on the conversion rate of the AD converter, and the detection precision is difficult to improve after the speed reaches the bottleneck. In general, the higher the conversion rate of the AD converter, the lower the number of bits of the converter, and the more difficult it is to ensure the detection accuracy.
In summary, how to reduce the signal interference caused by the spike pulse, reduce the conversion rate requirement of the AD converter, and increase the bit number of the AD converter, thereby increasing the signal-to-noise ratio of the gyroscope is a urgent problem to be solved.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for demodulating an optical fiber gyroscope based on a multistage integral circuit and the optical fiber gyroscope, which can inhibit the influence of spike asymmetry on zero offset output of the optical fiber gyroscope, reduce the conversion rate of an AD converter, improve the signal-to-noise ratio of the optical fiber gyroscope, greatly reduce the control frequency of an integrator and reduce the crosstalk of a control signal to an analog signal through the time-sharing use of a multistage integral demodulation circuit.
The invention is realized by the following technical scheme:
a method for demodulating a fiber optic gyroscope based on a multistage integral circuit comprises the following steps:
s1: after reaching the Y waveguide modulator through the coupler, the light output by the light source is divided into two beams of light which are transmitted in the optical fiber ring, and then returned to the Y waveguide modulator to form interference light, the interference light enters the photoelectric detector through the coupler, and the photoelectric detector converts the light signal into a voltage signal, and a multistage integral demodulation circuit forms a multistage voltage signal with two or more stages;
s2: the time sequence of each stage of voltage signal in the multi-stage integrated demodulation circuit is sequentially divided into three time sequence stages of integration, holding and resetting, the time of the integration time sequence stage of each stage of voltage signal is the same, the time of the reset time sequence stage of each stage of voltage signal is the same, the time of the next stage of voltage signal entering the integration time sequence stage is delayed backwards than the time of the previous stage of voltage signal entering the integration time sequence stage, the delay time of the adjacent stage of voltage signal is the same, and the integration and holding time sequence stages of each stage of voltage signal are 2
Is an integer multiple of (1), wherein->
Is the transit time of the optical signal within the fiber loop;
s3: when the time sequence stage of each stage is in the time sequence maintaining stage, the voltage signal of each stage is collected and respectively transmitted to the corresponding stage adder, the voltage signal is calculated by the multistage adder and then transmitted to the final stage adder, and after the collection of the voltage signal of each stage is completed and the integration and the maintenance of the two time sequence stages of the multistage voltage signal are completed, the multistage voltage signal simultaneously enters the reset time sequence stage to be reset, and the next integration of the voltage signal is prepared;
s4: after the final adder operation is finished, the signal is transmitted to the AD converter for mode conversion, and then is modulated and demodulated by the modem, transmitted to the DA converter for mode conversion and fed back to the Y waveguide modulator for forming a closed loop.
Optimally, the multi-stage integral demodulation circuit is four stages, and the integral and the maintenance of the voltage signal of each stage are both in 2 time sequence stages
The time is completed.
Further, after the photoelectric detector converts the optical signal into the voltage signal, the multi-channel integral switch circuit in the multi-channel integral demodulation circuit controls the time-sharing feeding time sequence of the voltage signal to divide the voltage signal into multiple stages, and the multi-channel integral switch circuit controls the time sequence stage of the voltage signal of each stage.
The optical fiber gyro based on the multistage integral circuit for executing any one of the method for demodulating the optical fiber gyro based on the multistage integral circuit comprises a light source, a coupler, a Y waveguide, an optical fiber ring, a photoelectric detector, a multistage integral demodulation circuit, an AD converter, a modem and a DA converter, wherein the output end of the light source is coupled with the input end of the coupler, the output end of the coupler is coupled with the input end of the Y waveguide, two tail fibers of the Y waveguide are respectively coupled with two tail fibers of the optical fiber ring, the input end of the photoelectric detector is coupled with the detection end of the coupler, the output end of the photoelectric detector is connected with the input end of the multistage integral demodulation circuit, the output end of the multistage integral demodulation circuit is connected with the input end of the AD converter, the output end of the AD converter is connected with the input end of the modem, the output end of the modem is connected with the input end of the DA converter, and the output end of the DA converter is connected with the feedback end of the Y waveguide.
Preferably, the multi-stage integral demodulation circuit is a four-stage integral demodulation circuit.
Further, the multi-stage integrating demodulation circuit includes a multi-stage integrating switch circuit and a multi-stage adder.
The invention has the beneficial effects that:
according to the method for demodulating the fiber-optic gyroscope based on the multistage integral circuit and the fiber-optic gyroscope, through time-sharing use of the multistage integral demodulation circuit, the influence of spike asymmetry on zero offset output of the fiber-optic gyroscope can be restrained, the conversion rate of an AD converter can be reduced, the signal-to-noise ratio of the fiber-optic gyroscope is improved, meanwhile, the control frequency of the integrator is greatly reduced, and the crosstalk of a control signal to an analog signal is reduced.
Drawings
FIG. 1 is a schematic diagram of a fiber optic gyroscope according to the present invention.
Fig. 2 is a schematic diagram of the structure of the single-path integrator of the present invention.
Fig. 3 is a schematic diagram of a specific structure of the multi-path integrating switch circuit of the present invention.
Fig. 4 is a schematic diagram of a specific structure of a multi-stage integrating demodulation circuit according to the present invention.
Fig. 5 is a timing diagram of the operation of the multi-stage integrator according to the present invention.
Fig. 6 is a waveform diagram of the output of a photodetector under prior art four-state modulation.
Fig. 7 is a timing control diagram of the four-way integrating switch circuit of the present invention.
In the figure: 1. light source, 2, coupler, 3.Y waveguide, 4, fiber optic ring, 5, photodetector, 6, multi-stage integrating demodulation circuit, 7, AD converter, 8, modem, 9, DA converter, 10, single-pass integrator, 11, input signal switching controller, 12, integrator, 13, input signal switching control bus, 14, integrator control bus, 15, one-stage adder, 16, final-stage adder, 17, multiple-pass integrating switching circuit.
Detailed Description
A method for demodulating a fiber optic gyroscope based on a multistage integral circuit comprises the following steps:
s1: after reaching the Y waveguide modulator through the coupler, the light output by the light source is divided into two beams of light which are transmitted in the optical fiber ring, and then returned to the Y waveguide modulator to form interference light, the interference light enters the photoelectric detector through the coupler, and the photoelectric detector converts the light signal into a voltage signal, and a multistage integral demodulation circuit forms a multistage voltage signal with two or more stages;
s2: the time sequence of each stage of voltage signal in the multi-stage integrated demodulation circuit is sequentially divided into three time sequence stages of integration, holding and resetting, the time used by each stage of voltage signal integration time sequence stage is the same, the time used by each stage of voltage signal resetting time sequence stage is the same, the time when the next stage of voltage signal enters the integration time sequence stage is delayed backwards than the time when the previous stage of voltage signal enters the integration time sequence stage, the delay time of the adjacent stage of voltage signal is the same, and the two time sequence stages of integration and holding of each stage of voltage signal are 2
Is an integer multiple of (1), wherein->
Is the transit time of the optical signal within the fiber loop;
s3: when the time sequence stage of each stage is in the time sequence maintaining stage, the voltage signal of each stage is collected and respectively transmitted to the corresponding stage adder, the voltage signal is calculated by the multistage adder and then transmitted to the final stage adder, and after the collection of the voltage signal of each stage is completed and the integration and the maintenance of the two time sequence stages of the multistage voltage signal are completed, the multistage voltage signal simultaneously enters the reset time sequence stage to be reset, and the next integration of the voltage signal is prepared;
s4: after the final adder operation is finished, the signal is transmitted to the AD converter for mode conversion, and then is modulated and demodulated by the modem, transmitted to the DA converter for mode conversion and fed back to the Y waveguide modulator for forming a closed loop.
Optimally, the multi-stage integral demodulation circuit is four stages, and the integral and the maintenance of the voltage signal of each stage are both in 2 time sequence stages
The time is completed.
Further, after the photoelectric detector converts the optical signal into the voltage signal, the multi-channel integral switch circuit in the multi-channel integral demodulation circuit controls the time-sharing feeding time sequence of the voltage signal to divide the voltage signal into multiple stages, and the multi-channel integral switch circuit controls the time sequence stage of the voltage signal of each stage.
First, the single-path integrator 10 is provided with an input signal port, an output signal port, an integral control signal port and a reset signal port, and when the integral control signal M of the integral control signal port is at a high level, the output signal can be realized
Equal to the input signal +.>
When the integration control signal M of the integration control signal port is at a low level, stopping the integration and realizing the output signal +.>
When the reset signal N of the reset signal port is high level, the output signal reset can be realized,/->
The clear is carried out, and a specific single-path integrator structure schematic diagram is shown in figure 2;
the multi-stage integral demodulation circuit comprises a multi-stage integral switch circuit 17 and a multi-stage adder, the multi-stage integral switch circuit comprises an input signal switching controller 11 and a multi-stage integrator 12, the specific structure diagram of the multi-stage integral switch circuit is shown in fig. 3, and the specific structure diagram of the multi-stage integral demodulation circuit is shown in fig. 4. The input signal switching control bus 13 sends the voltage signal of the photoelectric detector to the multi-path integrating switch circuit in a time sharing way, and the multi-stage integrator works sequentially. The integrator control bus 14 controls the integration and reset states of the corresponding integrator, and the integrated signals of the multi-stage integrator are accumulated into a plurality of stages of adders
When the time sequence stage of each stage is in the hold time sequence stage, the voltage signal of each stage is collected and respectively transmitted to the corresponding stage adder 15, and is calculated by a multi-stage adder (not shown) and then transmitted to the final stage adder 16, and the rate signal is demodulated by a modem. Because the signal is stationary during the hold timing phase, there is no need to employ over-sampling techniques to suppress gyro noise because the data acquisition is automatically smoothed by the integrator. And because each stage is in the time sequence stage of keeping, gather the voltage signal of each stage and send to the corresponding one-level adder separately, send to the final adder after the operation of the multi-level adder, settle the account through the final adder and send to the AD converter to carry on the mode conversion, can make AD converter work at lower clock frequency, can choose the AD converter of higher digit, thus reduce the digital noise of the system, raise the precision of the gyro.
The operational state timing diagram of the multi-stage integrator is shown in fig. 5: in the figure, n represents the number of stages of the integrator, and the working process is as follows:
the initial state multistage integrator M, N is low and the total modulation period is nT，TThe time is modulated for each stage of integrator.
First stage integrator operating state timing:
...
operational state timing of the nth stage integrator:
at the position of
To->
Collecting signals in time period, completing hardware rate calculation by an adder, and collecting +.>
The signal participates in a digital closed loop;
Specifically, taking four-state modulation as an example, the output waveform of the photodetector under four-state modulation is shown in fig. 6: in fig. 6, the ordinate indicates the output voltage signal of the photodetector, the abscissa indicates time, the modulation period is 2τ, and the modulation time of each state is τ/2. As can be seen from FIG. 6, the photodetector output waveform carries spikes with itHigh-frequency noise is introduced to the voltage signals after flushing, so that the signal-to-noise ratio of the acquisition interval is lower. The traditional four-state modulation and demodulation method comprises the following steps: discrete acquisition of flat areas of 1, 2, 3, 4 with AD converter and calculation of phase difference
. Wherein->
、/>
、/>
、/>
The acquired voltage values of the flat areas 1, 2, 3, 4, respectively, +.>
、/>
、/>
、/>
A large amount of high-frequency noise is entrained, the acquired flat area is narrow, the requirement on the conversion rate of the AD converter is high, the AD conversion rate reaches the bottleneck at present, and the improvement of the sampling precision can not be realized.
The invention can collect four-state modulated signals in a time-sharing way through the four-way integral switch circuit and realize the four-state modulated signals through the two-stage adder
The hardware of the system is calculated, and the calculated result is acquired to a modem through an AD converter to realize digital closed loop. The hardware resolving circuit greatly reduces the conversion rate requirement of the AD converter, and compared with the traditional resolving mode, the conversion rate of the AD converter can be reducedThe method is reduced, an AD converter with higher digits can be adopted, higher sampling precision is obtained, and the gyro precision is further improved.
The timing control of the four-way integrating switch circuit is shown in fig. 7:
the working steps are as follows:
the working process of the second, third and fourth integrator is the same as that of the first integrator, except that the time for entering each time sequence stage is staggered, the time for each voltage signal integration time sequence stage and the time for resetting the time sequence stage are the same, the time for the next voltage signal entering the integration time sequence stage is delayed backwards than the time for the last voltage signal entering the integration time sequence stage, and the delay time of the adjacent voltage signals is the same;
the four-stage integrator completes integration completely, after entering a time sequence maintaining stage, signals are collected in the time sequence maintaining stage, and the adder completes hardware rate calculation;
The optical fiber gyro based on the multi-stage integration circuit has a specific structure shown in fig. 1, and is used for executing the method for performing optical fiber gyro demodulation based on the multi-stage integration circuit, and the optical fiber gyro based on the multi-stage integration circuit comprises a light source 1, a coupler 2, a Y waveguide 3, an optical fiber loop 4, a photoelectric detector 5, a multi-stage integration demodulation circuit 6, an AD converter 7, a modem 8 and a DA converter 9, wherein the output end of the light source is coupled with the input end of the coupler, the output end of the coupler is coupled with the input end of the Y waveguide, two tail fibers of the Y waveguide are respectively coupled with two tail fibers of the optical fiber loop, the input end of the photoelectric detector is coupled with the detection end of the coupler, the output end of the photoelectric detector is connected with the input end of the multi-stage integration demodulation circuit, the output end of the multi-stage integration demodulation circuit is connected with the input end of the AD converter, the output end of the AD converter is connected with the input end of the modem, and the output end of the DA converter is connected with the feedback end of the Y waveguide.
Preferably, the multi-stage integral demodulation circuit is a four-stage integral demodulation circuit.
Further, the multi-stage integrating demodulation circuit includes a multi-stage integrating switch circuit and a multi-stage adder.
In summary, the method for demodulating the fiber-optic gyroscope based on the multi-stage integration circuit and the fiber-optic gyroscope provided by the invention adopt a multi-stage integration scheme, the data acquisition is automatically smoothed by the integrator, the oversampling technology is not needed to inhibit the gyroscope noise, the AD converter is enabled to work at a lower clock frequency, the AD converter with a higher bit number can be selected to reduce the digital noise of the system, and the gyroscope precision 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 (6)
1. A method for demodulating an optical fiber gyroscope based on a multistage integral circuit is characterized by comprising the following steps of: the method comprises the following steps:
s1: after reaching the Y waveguide modulator through the coupler, the light output by the light source is divided into two beams of light which are transmitted in the optical fiber ring, and then returned to the Y waveguide modulator to form interference light, the interference light enters the photoelectric detector through the coupler, and the photoelectric detector converts the light signal into a voltage signal, and a multistage integral demodulation circuit forms a multistage voltage signal with two or more stages;
s2: the time sequence of each stage of voltage signal in the multi-stage integrated demodulation circuit is sequentially divided into three time sequence stages of integration, holding and resetting, the time of the integration time sequence stage of each stage of voltage signal is the same, the time of the reset time sequence stage of each stage of voltage signal is the same, the time of the next stage of voltage signal entering the integration time sequence stage is delayed backwards than the time of the previous stage of voltage signal entering the integration time sequence stage, the delay time of the adjacent stage of voltage signal is the same, and the integration and holding time sequence stages of each stage of voltage signal are 2
Is an integer multiple of (1), wherein->
Is the transit time of the optical signal within the fiber loop;
s3: when the time sequence stage of each stage is in the time sequence maintaining stage, the voltage signal of each stage is collected and respectively transmitted to the corresponding stage adder, the voltage signal is calculated by the multistage adder and then transmitted to the final stage adder, and after the collection of the voltage signal of each stage is completed and the integration and the maintenance of the two time sequence stages of the multistage voltage signal are completed, the multistage voltage signal simultaneously enters the reset time sequence stage to be reset, and the next integration of the voltage signal is prepared;
s4: after the final adder operation is finished, the signal is transmitted to the AD converter for mode conversion, and then is modulated and demodulated by the modem, transmitted to the DA converter for mode conversion and fed back to the Y waveguide modulator for forming a closed loop.
2. The method for demodulating the fiber-optic gyroscope based on the multistage integral circuit according to claim 1, wherein the method comprises the following steps: the multi-stage integral demodulation circuit is four stages, and the integral sum of the voltage signals of each stage is kept at 2 time sequence stages
The time is completed.
3. The method for performing fiber optic gyroscope demodulation based on the multistage integration circuit according to claim 2, wherein the method comprises the following steps: after the photoelectric detector converts the optical signal into the voltage signal, the multi-path integral switch circuit in the multi-path integral demodulation circuit controls the time-sharing feeding time sequence of the voltage signal to divide the voltage signal into a plurality of stages, and the multi-path integral switch circuit controls the time sequence stage of the voltage signal of each stage.
4. A fiber optic gyroscope based on a multistage integration circuit for performing a method of demodulating a fiber optic gyroscope based on a multistage integration circuit as claimed in any one of claims 1 to 3, wherein: the optical fiber integrated demodulation circuit comprises a light source, a coupler, a Y waveguide, an optical fiber ring, a photoelectric detector, a multistage integrated demodulation circuit, an AD converter, a modem and a DA converter, wherein the output end of the light source is coupled with the input end of the coupler, the output end of the coupler is coupled with the input end of the Y waveguide, two tail fibers of the Y waveguide are respectively coupled with the two tail fibers of the optical fiber ring, the input end of the photoelectric detector is coupled with the detection end of the coupler, the output end of the photoelectric detector is connected with the input end of the multistage integrated demodulation circuit, the output end of the multistage integrated demodulation circuit is connected with the input end of the AD converter, the output end of the AD converter is connected with the input end of the modem, the output end of the modem is connected with the input end of the DA converter, and the output end of the DA converter is connected with the feedback end of the Y waveguide.
5. The fiber optic gyroscope based on the multistage integration circuit of claim 4, wherein: the multi-stage integral demodulation circuit is a four-stage integral demodulation circuit.
6. The fiber optic gyroscope based on the multistage integration circuit of claim 4, wherein: the multi-stage integral demodulation circuit comprises a multi-stage integral switch circuit and a multi-stage adder.
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