CN116576842A - Resonant optical gyroscope and angular velocity measurement method - Google Patents
Resonant optical gyroscope and angular velocity measurement method Download PDFInfo
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- CN116576842A CN116576842A CN202310416306.4A CN202310416306A CN116576842A CN 116576842 A CN116576842 A CN 116576842A CN 202310416306 A CN202310416306 A CN 202310416306A CN 116576842 A CN116576842 A CN 116576842A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/66—Ring laser gyrometers
- G01C19/661—Ring laser gyrometers details
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Abstract
The present disclosure provides a resonant optical gyroscope and an angular velocity measurement method, the gyroscope including: the optical resonance unit comprises a bus waveguide and at least two waveguide rings; the signal processing and controlling system is respectively connected with the photoelectric detector and the tunable laser in a signal way; in the optical resonance unit, the bus waveguide is adjacent to the first waveguide ring, the first waveguide ring is adjacent to the second waveguide ring, optical coupling exists at the adjacent positions of the first waveguide ring, the bus waveguide and the second waveguide ring, the signal processing and control system obtains a double-ring free spectrum range according to double-ring resonance spectral lines, when external angular velocity exists, the external angular velocity is calculated according to the variable quantity of the double-ring free spectrum range, and compared with the prior art, the resonant optical gyroscope is simple in structure and can greatly improve the angular velocity sensitivity of the gyroscope.
Description
Technical Field
The disclosure relates to the technical field of gyroscopes, in particular to a resonant optical gyroscope and an angular velocity measurement method.
Background
The gyroscope is an angular velocity sensor, is used for sensing angular velocity, and can be applied to inertial navigation of missiles, airplanes and the like. Resonant optical gyroscopes are typically based on an optical resonant ring, which is a ring-shaped optical device, as shown in fig. 1, consisting of a bus waveguide and a waveguide ring.
The general structure of the existing resonant optical gyroscope is shown in fig. 2, and the whole gyroscope system is composed of a tunable laser, an isolator, an electro-optical modulator, a photoelectric detector, a resonant ring, a signal processing and controlling system and other devices, so that the structure is complex and the angular velocity sensitivity is low.
Disclosure of Invention
An object of the present disclosure is to provide a resonant optical gyroscope and an angular velocity measurement method to simplify the resonant optical gyroscope and to improve angular velocity measurement sensitivity.
Embodiments of a first aspect of the present disclosure provide a resonant optical gyroscope, comprising:
the optical resonance unit comprises a bus waveguide and at least two waveguide rings, wherein the two waveguide rings are respectively a first waveguide ring and a second waveguide ring;
the tunable laser is arranged at the input end of the bus waveguide, the photoelectric detector is arranged at the output end of the bus waveguide, and the signal processing and control system is respectively connected with the photoelectric detector and the tunable laser in a signal manner;
in the optical resonance unit, a bus waveguide is adjacent to a first waveguide ring, the first waveguide ring is adjacent to a second waveguide ring, and optical coupling exists between adjacent parts of the first waveguide ring, the bus waveguide and the second waveguide ring;
the signal processing and controlling system is used for outputting a sweep frequency signal to the tunable laser so that the tunable laser outputs continuous linear sweep frequency laser;
the laser emitted by the tunable laser is coupled into the first waveguide ring through the bus waveguide and then is coupled into the second waveguide ring; the frequency of the input laser of the tunable laser meets the resonance conditions of the first waveguide ring and the second waveguide ring at the same time;
the photoelectric detector is used for collecting the light intensity of the output light after passing through the first waveguide ring and the second waveguide ring, and obtaining frequency response spectrums of the first waveguide ring and the second waveguide ring, namely double-ring resonance spectrum lines;
the signal processing and controlling system is also used for obtaining the free spectrum range of the double ring according to the double ring resonance spectrum line, and calculating the external angular velocity according to the change of the free spectrum range of the double ring when the external angular velocity exists.
According to some embodiments of the present disclosure, the difference in cavity length of the first waveguide ring and the second waveguide ring is set to: the dual-ring resonant spectrum is made to reach a maximum value in the case where the tunable laser sweep is sufficient to sweep out two complete deep resonant valleys.
According to some embodiments of the present disclosure, the total length of the first waveguide ring is greater than the total length of the second waveguide ring.
According to some embodiments of the disclosure, the line connecting the centers of the first waveguide ring and the second waveguide ring is perpendicular to the bus waveguide.
According to some embodiments of the disclosure, the first waveguide ring and the second waveguide ring are identical in shape.
According to some embodiments of the disclosure, the first waveguide ring and the second waveguide ring are shaped differently.
A second aspect embodiment of the present disclosure provides an angular velocity measurement method, based on the resonant optical gyroscope described in the first aspect, the method including:
the signal processing and controlling system outputs a sweep frequency signal to the tunable laser;
the tunable laser outputs continuous linear sweep laser to the bus waveguide, and the laser is coupled into the first waveguide ring through the bus waveguide and then is coupled into the second waveguide ring; the frequency of the input laser of the tunable laser meets the resonance conditions of the first waveguide ring and the second waveguide ring at the same time;
the photoelectric detector acquires the light intensity of the output light after passing through the first waveguide ring and the second waveguide ring, and obtains frequency response spectrums of the first waveguide ring and the second waveguide ring, namely double-ring resonance spectrum lines;
the signal processing and control system obtains a free spectrum range of the double rings according to the double ring resonance spectrum line;
when the external angular velocity exists, the signal processing and control system calculates the external angular velocity according to the variable quantity of the free spectrum range of the double ring.
Compared with the prior art, the utility model has the advantages that:
the present disclosure provides a resonant optical gyroscope, comprising: the optical resonance unit comprises a bus waveguide and at least two waveguide rings, wherein the two waveguide rings are respectively a first waveguide ring and a second waveguide ring; the tunable laser is arranged at the input end of the bus waveguide, the photoelectric detector is arranged at the output end of the bus waveguide, and the signal processing and control system is respectively connected with the photoelectric detector and the tunable laser in a signal manner; in the optical resonance unit, the bus waveguide is adjacent to the first waveguide ring, the first waveguide ring is adjacent to the second waveguide ring, optical coupling exists at the adjacent positions of the first waveguide ring, the bus waveguide and the second waveguide ring, the signal processing and control system obtains a double-ring free spectrum range according to double-ring resonance spectral lines, when the external angular velocity exists, the external angular velocity is calculated according to the variable quantity of the double-ring free spectrum range, compared with the prior art, the resonant optical gyroscope is simple in structure, and the angular velocity sensitivity of the gyroscope can be greatly improved due to the double-ring structure based on the vernier effect of the resonance spectral lines.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the disclosure. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 shows a schematic diagram of a prior art optical resonant ring;
FIG. 2 is a schematic diagram showing a structure of a conventional resonant optical gyroscope;
FIG. 3 shows a schematic diagram of the resonance lines of the optical resonance ring of FIG. 1;
FIG. 4 shows a schematic structural diagram of a resonant optical gyroscope provided by the present disclosure;
fig. 5 shows a schematic diagram of a dual-ring resonance line provided by the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is only exemplary and is not intended to limit the scope of the present disclosure. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present disclosure.
Various structural schematic diagrams according to embodiments of the present disclosure are shown in the drawings. The figures are not drawn to scale, wherein certain details are exaggerated for clarity of presentation and may have been omitted. The shapes of the various regions, layers and relative sizes, positional relationships between them shown in the drawings are merely exemplary, may in practice deviate due to manufacturing tolerances or technical limitations, and one skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions as actually required.
In the context of the present disclosure, when a layer/element is referred to as being "on" another layer/element, it can be directly on the other layer/element or intervening layers/elements may be present therebetween. In addition, if one layer/element is located "on" another layer/element in one orientation, that layer/element may be located "under" the other layer/element when the orientation is turned.
The optical resonant ring shown in fig. 1 is composed of a bus waveguide and a waveguide ring, wherein the waveguide can be an optical fiber, or an on-chip optical waveguide formed by materials such as SOI, si3N4 and the like, and the waveguide ring in fig. 1 is exemplified by a circular shape, and can be actually in various shapes such as a racetrack shape, a rectangular shape and the like. There is optical coupling between the bus waveguide and the waveguide ring adjacent to where light entering the bus waveguide via the input end can couple into the waveguide ring as it passes through the coupling location.
The waveguide ring is actually a ring resonator, and the light frequency coupled into the waveguide ring can resonate in the cavity when the following condition is satisfied:
wherein f is the optical frequency, L is the total length of the waveguide ring, c is the optical speed, n eff For the effective refractive index of the waveguide ring waveguide, when the input light resonates in the waveguide ring, the input light is partially limited in the cavity and cannot be output from the bus waveguide output end, the optical frequency which can resonate in the cavity is periodically distributed according to the formula (1), and the interval between two adjacent resonant frequencies, namely the free spectral range is as follows:
at this time, a tunable laser is used to input continuous linear sweep laser at an input end, and output optical power after passing through the resonant ring is collected at an output end, so that a frequency response spectrum of the resonant ring, namely a resonant spectrum thereof, can be obtained, and a schematic diagram of the resonant spectrum is shown in fig. 3. In fig. 3 two resonance valleys, f, of the waveguide ring are shown 1 And f 2 Is two resonant frequencies of the waveguide ring, the frequency difference between the two is the free spectral range f FSR 。
The resonant optical gyroscope is a gyroscope designed based on the Sagnac effect, the Sagnac effect is based on relativity, namely the length of a moving object is changed, so that the cavity length of a waveguide ring is changed due to the external rotation angular velocity, when the external angular velocity direction is the same as the light propagation direction, the cavity length of the waveguide ring is prolonged, when the external angular velocity direction is opposite to the light propagation direction, the cavity length of the waveguide ring is shortened, at the moment, the resonant frequencies of two paths of light clockwise and anticlockwise in the waveguide ring are offset according to the formula (1), a tiny frequency difference delta f is generated between the two paths of light, and a proportional relation exists between the frequency difference and the angular velocity in a certain range:
wherein Ω is angular velocity, n is refractive index, λ 0 In practical application, the photoelectric detector can be used for detecting the light intensity P of two paths of light clockwise and anticlockwise in the waveguide ring 1 、P 2 Modulating and demodulating the gyroscope signal through a phase modulation spectrum technology to obtain a frequency difference delta f, and calculating the magnitude of an external rotation angular velocity according to the formula (3).
The general structure of the resonant optical gyroscope is shown in fig. 2, the whole gyroscope system is composed of a tunable laser, an isolator, an electro-optical modulator, a photoelectric detector, a resonant ring, a signal processing and control system and the like, wherein a solid line link represents an optical path, a dotted line link represents an electrical path, the optical path provides a narrow line width light source by the tunable laser, and a 1-to-2 beam splitter C passes through the isolator I 0 Is divided into two paths of light with equal light intensity, one path of light passes through a phase modulator P 1 Modulated and coupled to the resonant ring for transmission in a counter-clockwise direction, and then passed through coupler C 1 Coupled into photodetector D 1 The other path goes through the phase modulator P 2 Modulated and then transmitted along the silicon-based resonant ring clockwise, and then passes through the coupler C 2 Coupled into photodetector D 2 The signal modulation and control system will be used for photoelectric detector D 1 、D 2 Demodulating the detected light intensity signals of the two paths of light and judging the forward and reverse light beamsThe frequency is offset relative to the resonance center frequency of the silicon-based resonant ring, then the signal modulation and control system sends a frequency tracking signal to the tunable laser, so that the light source frequency is consistent with the resonance frequency of one of the two paths of light in the clockwise direction and the anticlockwise direction all the time, and the difference value of the resonance frequencies of the two paths of light in the clockwise direction and the anticlockwise direction can be judged according to the output light power value of the other path of light, and the external angular velocity value is calculated.
The application provides a resonant optical gyroscope with two ring resonators, which is known from the related art that when the ring resonators (called resonant rings for short) rotate, the length of the ring resonators changes, and according to the formula (2), the change of the cavity length can lead the free spectral range f of the ring resonators FSR Can change, the application is based on the principle, and the f of the resonant ring caused by the external angular velocity is acquired FSR The change in the sensitive angular velocity.
Single resonant ring f due to external angular velocity FSR The change is too small, the change is difficult to detect, and the application designs a double resonant ring structure in order to increase the sensitivity of the gyroscope. Fig. 4 is a schematic diagram of a resonant optical gyroscope provided by the present disclosure, where, as shown in fig. 4, the resonant optical gyroscope provided by the present disclosure includes:
the optical resonant cell, tunable laser 100, photodetector 200, and signal processing and control system 300, the optical resonant ring comprising a bus waveguide 410 and at least two waveguide rings, a first waveguide ring 420 and a second waveguide ring 430, respectively. Alternatively, the shape of the waveguide ring may be a circular shape, a racetrack shape, or a rectangular shape.
According to some embodiments of the present application, the total length of the first waveguide ring 420 may be set to be longer than the total length of the second waveguide ring 430, and the line connecting the centers of the first waveguide ring 420 and the second waveguide ring 430 is perpendicular to the bus waveguide 410.
According to some embodiments of the present disclosure, the first waveguide ring 420 and the second waveguide ring 430 are identical in shape, e.g., both are circular. The first waveguide ring 420 and the second waveguide ring 430 may also have different shapes, such as a circular shape and a racetrack shape.
The tunable laser 100 is disposed at an input end of the bus waveguide 410, the photodetector 200 is disposed at an output end of the bus waveguide 410, and the signal processing and control system 300 is respectively in signal connection with the photodetector 200 and the tunable laser 100.
In the optical resonance unit, the bus waveguide 410 is adjacent to the first waveguide ring 420, the first waveguide ring 420 is adjacent to the second waveguide ring 430, and optical coupling exists between the first waveguide ring 420 and adjacent portions of the bus waveguide 410 and the second waveguide ring 430.
The signal processing and control system 300 is configured to output a swept frequency signal to the tunable laser 100 such that the tunable laser 100 outputs a continuous linear swept frequency laser.
The laser light emitted by the tunable laser 100 is coupled into the first waveguide ring 420 via the bus waveguide 410, and then into the second waveguide ring 430; the frequency of the input laser light of the tunable laser 100 can satisfy the resonance condition of both the first waveguide ring 420 and the second waveguide ring 430. When the input laser frequency satisfies the resonance condition of either waveguide ring, the laser is limited partially within the waveguide ring, and when the input laser frequency satisfies the resonance condition of both the first waveguide ring 420 and the second waveguide ring 430, the laser is limited more within both waveguide rings.
The photodetector 200 is configured to collect the light intensities of the light output after passing through the first waveguide ring 420 and the second waveguide ring 430, so as to obtain the frequency response spectra of the first waveguide ring 420 and the second waveguide ring 430, i.e. the dual-ring resonance spectrum.
The signal processing and control system 300 is further configured to obtain a free spectral range of the double ring according to the resonance spectrum line of the double ring, and calculate the external angular velocity according to the variation of the free spectral range of the double ring when the external angular velocity exists.
As shown in fig. 5, if the resonance curves of the first waveguide ring 420 and the second waveguide ring 430 are curve 1 and curve 2, respectively, it is known that the double-ring resonance lines are the superposition of the two, i.e. as shown in curve 3 in fig. 5, it is known that the frequency of the deep resonance trough of curve 3 is the difference of the frequency of the resonance trough of the resonance curves of the first waveguide ring 420 and the second waveguide ring 430, such as the first waveguideThe difference in cavity length between the ring 420 and the second waveguide ring 430 is small, so that the frequency difference between the resonance valleys in the two resonance curves is small, i.e., the frequency of the double-ring deep resonance valleys is small, i.e., the free spectral range f FSR In this case, when the external angular velocity exists, the cavity lengths of the first waveguide ring 420 and the second waveguide ring 430 are changed simultaneously, and since the propagation directions of the light in the two are opposite, the cavity lengths of the two caused by the same external angular velocity are also opposite, and the double-ring deep resonance valley f is caused FSR The change amount is in direct proportion to the external angular velocity, and the detected double-ring resonance spectral line f can be used for FSR And calculating the external angular velocity.
According to some embodiments of the present application, the difference in cavity length of the first waveguide ring 420 and the second waveguide ring 430 is set as: the dual-ring resonant spectrum is made to reach a maximum value in the case where the tunable laser sweep is sufficient to sweep out two complete deep resonant valleys.
That is, in practical application, the length difference of the double-ring cavity can be reasonably set to ensure that the double-ring f FSR The maximum angular velocity sensitivity is obtained with a tunable laser sweep range that is as large as possible with enough sweep out two complete deep resonant valleys.
Compared with the prior art, the utility model has the advantages that:
the resonant optical gyroscope provided by the disclosure has a simple structure, the external angular velocity is sensitive by utilizing the Sagnac effect of the two ring resonators and the free spectral range change of the double-ring resonant spectral line caused by the vernier effect, and compared with the traditional resonant optical gyroscope, the resonant frequency is not required to be tracked, so that the requirement on a signal control system is lower, a complex signal modulation and demodulation technology is not required, a phase modulator is not required, and meanwhile, the angular velocity sensitivity of the gyroscope can be greatly improved by the double-ring structure based on the vernier effect of the resonant spectral line.
The present disclosure also provides an angular velocity measurement method based on the resonant optical gyroscope in the above embodiment, including the steps of:
the signal processing and controlling system outputs a sweep frequency signal to the tunable laser;
the tunable laser outputs continuous linear sweep laser to the bus waveguide, and the laser is coupled into the first waveguide ring through the bus waveguide and then is coupled into the second waveguide ring; the frequency of the input laser of the tunable laser meets the resonance conditions of the first waveguide ring and the second waveguide ring at the same time;
the photoelectric detector acquires the light intensity of the output light after passing through the first waveguide ring and the second waveguide ring, and obtains frequency response spectrums of the first waveguide ring and the second waveguide ring, namely double-ring resonance spectrum lines;
the signal processing and control system obtains a free spectrum range of the double rings according to the double ring resonance spectrum line;
when the external angular velocity exists, the signal processing and control system calculates the external angular velocity according to the variable quantity of the free spectrum range of the double ring.
Compared with the prior art, the utility model has the advantages that:
the angular velocity measurement method provided by the disclosure uses the Sagnac effect and the vernier effect of the two ring resonators to cause the free spectral range change of the double-ring resonant spectrum line to sense the external angular velocity, and compared with the traditional resonant optical gyroscope, the method does not need to track the resonant frequency, so that the requirement on a signal control system is lower, a complex signal modulation and demodulation technology is not needed, a phase modulator is not needed, and the angular velocity measurement sensitivity is higher.
To form the same structure, the person skilled in the art can also devise methods which are not exactly the same as those described above. In addition, although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination.
The embodiments of the present disclosure are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.
Claims (7)
1. A resonant optical gyroscope, comprising: the optical resonance unit comprises a bus waveguide and at least two waveguide rings, wherein the two waveguide rings are respectively a first waveguide ring and a second waveguide ring;
the tunable laser is arranged at the input end of the bus waveguide, the photoelectric detector is arranged at the output end of the bus waveguide, and the signal processing and control system is respectively connected with the photoelectric detector and the tunable laser in a signal manner;
in the optical resonance unit, a bus waveguide is adjacent to a first waveguide ring, the first waveguide ring is adjacent to a second waveguide ring, and optical coupling exists between adjacent parts of the first waveguide ring, the bus waveguide and the second waveguide ring;
the signal processing and controlling system is used for outputting a sweep frequency signal to the tunable laser so that the tunable laser outputs continuous linear sweep frequency laser;
the laser emitted by the tunable laser is coupled into the first waveguide ring through the bus waveguide and then is coupled into the second waveguide ring; the frequency of the input laser of the tunable laser meets the resonance conditions of the first waveguide ring and the second waveguide ring at the same time;
the photoelectric detector is used for collecting the light intensity of the output light after passing through the first waveguide ring and the second waveguide ring, and obtaining frequency response spectrums of the first waveguide ring and the second waveguide ring, namely double-ring resonance spectrum lines;
the signal processing and controlling system is also used for obtaining the free spectrum range of the double ring according to the double ring resonance spectrum line, and calculating the external angular velocity according to the variable quantity of the free spectrum range of the double ring when the external angular velocity exists.
2. The resonant optical gyroscope of claim 1, wherein a difference in cavity lengths of the first waveguide ring and the second waveguide ring is set to: the dual-ring resonant spectrum is made to reach a maximum value in the case where the tunable laser sweep is sufficient to sweep out two complete deep resonant valleys.
3. The resonant optical gyroscope of claim 2, wherein the total length of the first waveguide ring is greater than the total length of the second waveguide ring.
4. A resonant optical gyroscope according to any of claims 1 to 3, wherein the line between the centres of the first and second waveguide rings is perpendicular to the bus waveguide.
5. The resonant optical gyroscope of claim 1, wherein the first waveguide ring and the second waveguide ring are identical in shape.
6. The resonant optical gyroscope of claim 1, wherein the first waveguide ring and the second waveguide ring are different in shape.
7. A method of angular velocity measurement based on the resonant optical gyroscope of any of claims 1-6, the method comprising:
the signal processing and controlling system outputs a sweep frequency signal to the tunable laser;
the tunable laser outputs continuous linear sweep laser to the bus waveguide, and the laser is coupled into the first waveguide ring through the bus waveguide and then is coupled into the second waveguide ring; the frequency of the input laser of the tunable laser meets the resonance conditions of the first waveguide ring and the second waveguide ring at the same time;
the photoelectric detector acquires the light intensity of the output light after passing through the first waveguide ring and the second waveguide ring, and obtains frequency response spectrums of the first waveguide ring and the second waveguide ring, namely double-ring resonance spectrum lines;
the signal processing and control system obtains a free spectrum range of the double rings according to the double ring resonance spectrum line;
when the external angular velocity exists, the signal processing and control system calculates the external angular velocity according to the variable quantity of the free spectrum range of the double ring.
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| CN117128945A (en) * | 2023-10-20 | 2023-11-28 | 中北大学 | Super-sensitive angular velocity sensor based on singular surface and measuring method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117128945A (en) * | 2023-10-20 | 2023-11-28 | 中北大学 | Super-sensitive angular velocity sensor based on singular surface and measuring method |
| CN117128945B (en) * | 2023-10-20 | 2023-12-26 | 中北大学 | Super-sensitive angular velocity sensor based on singular surface and measuring method |
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