WO1990012286A1 - Laser gyroscopique - Google Patents

Laser gyroscopique Download PDF

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Publication number
WO1990012286A1
WO1990012286A1 PCT/EP1990/000307 EP9000307W WO9012286A1 WO 1990012286 A1 WO1990012286 A1 WO 1990012286A1 EP 9000307 W EP9000307 W EP 9000307W WO 9012286 A1 WO9012286 A1 WO 9012286A1
Authority
WO
WIPO (PCT)
Prior art keywords
ring laser
photodiodes
phase
voltage divider
circuit
Prior art date
Application number
PCT/EP1990/000307
Other languages
German (de)
English (en)
Inventor
Karin Hilpert-Wunderle
Klaus Hilpert
Original Assignee
Teldix Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE19893929239 external-priority patent/DE3929239A1/de
Application filed by Teldix Gmbh filed Critical Teldix Gmbh
Publication of WO1990012286A1 publication Critical patent/WO1990012286A1/fr

Links

Classifications

    • 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
    • G01C19/662—Ring laser gyrometers details signal readout; dither compensators
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S3/00—Lasers, i.e. devices using stimulated emission of electromagnetic radiation in the infrared, visible or ultraviolet wave range
    • H01S3/05—Construction or shape of optical resonators; Accommodation of active medium therein; Shape of active medium
    • H01S3/08—Construction or shape of optical resonators or components thereof
    • H01S3/081—Construction or shape of optical resonators or components thereof comprising three or more reflectors
    • H01S3/083—Ring lasers
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S3/00—Lasers, i.e. devices using stimulated emission of electromagnetic radiation in the infrared, visible or ultraviolet wave range
    • H01S3/05—Construction or shape of optical resonators; Accommodation of active medium therein; Shape of active medium
    • H01S3/08—Construction or shape of optical resonators or components thereof
    • H01S3/081—Construction or shape of optical resonators or components thereof comprising three or more reflectors
    • H01S3/083—Ring lasers
    • H01S3/0835—Gas ring lasers

Definitions

  • the invention relates to a ring laser gyro according to the features of the preamble of the independent claims 1 and 2.
  • the interference fringe patterns generated from the two rotating light beams on an output prism are extracted from two e.g. Arranged directly on the ⁇ uskoppelprisma arranged photodiodes.
  • the distance between the photodiodes on the coupling coupling prism is the interference fringe distance. This results in two sinusoidal signals that are phase-shifted from one another by 90 °.
  • the direction of movement of the interference fringe patterns passing through the coupling coupling prism corresponds to the direction of rotation, the speed of movement corresponds to the rate of rotation of the gyroscope.
  • the object of the invention is to increase the resolution and thus the measurement accuracy of a ring laser gyroscope with simple means.
  • n photodiodes are arranged on the coupling-out prism of the ring laser gyroscope in the region of half an interference fringe spacing at equal distances from one another.
  • the resolution of the laser gyro output signal is doubled.
  • the resolution can be quadrupled by arranging eight photodiodes on the coupling coupling prism in such a way that the distance between two neighboring photodiodes is 1/16 of the interference fringe spacing. This quadruples the number of zero crossings of the laser gyro output signal.
  • a phase correction circuit is connected downstream of the photodiodes.
  • the phase correction circuit enables a correction of all photodiode output signals.
  • the photodiode arrangements are glued onto the coupling coupling prism. During the curing of the adhesive, the photodiode arrangement is slightly misaligned by the curing process, so that the output signals of the photodiodes have an incorrect phase angle with respect to one another.
  • the phase correction circuit By means of the phase correction circuit, the output signals of the photodiodes, which are shifted in percentage by the same amount and in the same direction, are adjusted to the correct value.
  • the phase correction circuit essentially consists of an inverter which is fed back with an adjustable voltage divider and further n-1 fixed voltage dividers.
  • the output signals of the photodiodes are connected to the inverter or to the voltage divider.
  • An evaluation circuit is connected downstream of the phase correction circuit.
  • the evaluation circuit contains n / 2 first EXOR elements, n / 4 second EXOR elements, n / 8 third EXOR elements, etc. until only two output signals are formed.
  • the first EXOR elements are each supplied with two signals that are 90 ° out of phase with each other.
  • the output signals of the first EXOR elements are fed to the second EXOR elements, these in turn being shifted in phase by 90 ° with respect to one another.
  • the third, and, if available, further following EXOR elements are likewise each supplied with two output signals of the upstream EXOR elements which are shifted by 90 ° relative to one another.
  • the number of EXOR stages results from the number of upstream photodiodes and thus the desired resolution.
  • the last EXOR stage consists of two EXOR elements, the output signals of which contain both angle increment and direction of rotation information.
  • At least two photodiodes arranged at 90 ° out of phase are present on the coupling coupling prism.
  • a 180 ° signal is generated from the 0 ° signal by an evaluator. If the photodiodes are inaccurately adjusted, the 90 ° signal is corrected by a phase correction circuit. A small proportion of the 0 ° or 180 ° signal is added to the misaligned 90 ° signal.
  • the output signals of these photodiodes and the 180 ° signal are switched to a voltage divider with n resistors to increase the resolution. With a certain ratio of the resistances to one another, the voltage divider generates output signals at its outputs which are shifted in phase by the same amount.
  • the phase correction circuit essentially consists of two voltage dividers.
  • the output signal to be corrected in phase is fed to the first voltage divider of the photodiode arranged at approximately 90 ° of the interference fringe spacing.
  • the other point of the first voltage divider is tapped off by a second voltage divider excited by the output signal of the photodiode arranged at 0 ° and 180 ° of the interference fringe spacing. connected.
  • the exact 90 ° output signal of the phase correction circuit obtained by superposition as in the first embodiment is taken from the tap of the first voltage divider.
  • the resolution of the output signal of the ring laser gyro can be determined in this second embodiment by the number of resistors arranged in the voltage divider.
  • the output signals of the voltage divider are fed via an Schmitt trigger to an evaluation circuit which, depending on the number of signals present, can be constructed in the same way as the evaluation circuit used in the first embodiment.
  • the second voltage divider can also be excited by the signal of a photodiode arranged at 0 ° of the interference strip spacing and by its inverted signal.
  • FIG. 2 shows a sinusoidal interference signal with a photodiode arrangement for increasing the resolution
  • FIG. 3 shows a block diagram of an exemplary embodiment with 90 ° phase correction and the increase in resolution by means of voltage dividers
  • FIG. 4 shows an exemplary embodiment of a phase correction circuit for one
  • FIG. 7 shows the output signals of a voltage divider or a photodiode arrangement, corresponding to the second embodiment according to the invention, before the rectangular conversion by the Schmitt trigger stage, the input signals of the evaluation circuit according to FIG. 6,
  • FIG. 8 shows the signal processing of the input ignale 7 with an evaluation circuit corresponding to FIG. 6.
  • FIG. 1 shows the basic structure of a ring laser gyroscope with the parts essential for this invention, such as the glass ceramic base body 1, the anodes 2, 14, the gas-filled bores 3, 7, 12 for the light beams 4, 13, rotating in opposite directions.
  • the photodiode arrangement 11 can consist of a multiplicity (s) of photodiodes or of two or three photodiodes.
  • FIG. 2 shows a sinusoidal interference signal with a photodiode arrangement according to the first embodiment according to the invention for increasing the resolution.
  • the photodiode arrangement 11 is arranged in the first half of the sinusoidal interference fringes.
  • Eight photodiodes have been selected to increase the resolution of the gyro signal. A further increase in resolution by, for example, doubling the eight photodiodes is possible without any problems.
  • the photo diodes are arranged at regular intervals (22.5 c ) from one another.
  • the first photodiode is 0 °, the second 22.5 °, the third 45 ° etc.
  • the eighth photodiode which serves to increase the resolution of the gyro signal, is arranged at 157 ° of the interference signal.
  • a ninth photodiode is 180 °.
  • the ninth photodiode is used to adjust the photodiode arrangement 11.
  • FIG. 3 shows a block diagram of an embodiment according to the second embodiment of the invention.
  • two photodiodes are arranged on the coupling coupling prism of the ring laser gyroscope.
  • the photodiodes supply the two signals 0 ° and »90 ° phase-shifted relative to one another by approximately 90 ° to the input terminals A, B of this circuit.
  • the 0 ° signal is fed to excite a voltage divider 19 consisting of eight resistors via an amplifier 16 and an inverter 17.
  • the signal which is phase-shifted by ⁇ 90 ° with respect to the 0 ° signal, together with the two further outputs of the amplifier 16 and the inverter 17, is due to a 90 ° phase correction 18 (FIG. 5).
  • the phase-shifted signal of the photodiode arranged at approximately 90 ° of the interference signal is set exactly to 90 ° and used as an input signal of the following voltage divider 19a.
  • the voltage divider 19a which is further excited on one side with a 0 ° signal and on the other side with a 90 ° signal, supplies four signals A to D, each phase-shifted by 22.5 ° relative to one another, with a certain resistance ratio ° signal and the 180 ° signal generated by the voltage divider 19b, the signals E to H.
  • the signals A to H are applied to the inputs of the eight Schmitt triggers 20.
  • the Schmitt triggers 20 are used to convert the signals to sine-rectangles.
  • the outputs of the Schmitt trigger 20 are connected to the inputs of the evaluation circuit (FIG. 6).
  • phase correction circuits for both versions in more detail.
  • 4 is used for phase correction of, in this simplified case, only four photodiodes arranged on the photodiode arrangement 11 in accordance with the first embodiment of the invention.
  • 5 is used for phase correction of the 90 ° signal of the photodiode arranged at ⁇ 90 ° of the interference signal in accordance with the second embodiment of the invention.
  • the signal of the photodiode arranged at 0 ° of the interference signal is also used via an inverter 31 to excite the voltage divider 32.
  • the other points 28, 29, 30 of the voltage divider 21, 22, 23 are connected together and led to the tap of the voltage divider 32.
  • the signals corrected in phase are picked up at the voltage divider connections 33, 34, 35.
  • a signal with 0 ° or 180 ° and adjustable amplitude can be taken off by tapping the voltage divider 32 and the phase-shifted signals be overlaid.
  • phase correction is made possible by the fact that it can be assumed that all the photodiodes on the photodiode arrangement 11 are phase-shifted in the same direction by a percentage equal amount. Should this e.g. If individual photodiodes are arranged on the coupling coupling prism 10, if this is not the case, then a single phase correction must be carried out, for example according to FIG. 5.
  • the output signals 0 ° and K 90 ° of the photodiodes arranged at 0 ° and 90 ° of the interference signal on the coupling coupling prism 10 are led to the inputs 36, 38 of the voltage dividers 37, 39.
  • the signal of the 0 ° photo diode additionally inverted by an inverter 17 (FIG. 3) excites the other side of the voltage divider 39.
  • the other side of the voltage divider 37 is connected to the tap 41 of the voltage divider 39 connected.
  • the phase corrected signal is taken from the voltage divider terminal 42.
  • the evaluation circuit shown in FIG. 6, for example, can be used for both embodiments according to the invention.
  • the example shown is provided for the exemplary embodiments in which the high resolution is achieved by eight photodiodes on the coupling coupling prism 10 or by eight resistors in the voltage dividers 19a and 19b.
  • the evaluation circuit contains four first EXOR elements 43. These first EXOR elements 43 are supplied with signals that are exactly 22.5 ° out of phase (FIGS. 8, A to H), with each individual EXOR element being connected to the two inputs there are two signals shifted 90 ° relative to each other.
  • the output signals (Fig.
  • the output signals (FIG. 8, N, 0) of the following EXOR elements 44 contain the angular increment and the direction of rotation of the ring laser gyro.
  • the angular increment is contained in the number or pulses of the signals present at the output of the EXOR elements 44.
  • the direction of rotation can be recognized by which of the two signals leads or lags the other.
  • the evaluation circuit can be expanded for even higher resolutions, for example by doubling the number of signals supplied and the number of EXOR elements. In this case there are eight first, four second and two third EXOR elements. Reference list

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Power Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Plasma & Fusion (AREA)
  • Gyroscopes (AREA)

Abstract

Pour permettre d'améliorer la résolution du signal de sortie d'un laser gyroscopique, soit le nombre de photodiodes disposées sur le prisme de déclenchement est augmenté soit un diviseur de tension produit une pluralité de signaux déphasés les uns par rapport aux autres.
PCT/EP1990/000307 1989-04-03 1990-02-23 Laser gyroscopique WO1990012286A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE3910657 1989-04-03
DEP3910657.8 1989-04-03
DEP3929239.8 1989-09-02
DE19893929239 DE3929239A1 (de) 1989-09-02 1989-09-02 Ringlaserkreisel

Publications (1)

Publication Number Publication Date
WO1990012286A1 true WO1990012286A1 (fr) 1990-10-18

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ID=25879447

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1990/000307 WO1990012286A1 (fr) 1989-04-03 1990-02-23 Laser gyroscopique

Country Status (2)

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EP (1) EP0465493A1 (fr)
WO (1) WO1990012286A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0577030A1 (fr) * 1992-06-29 1994-01-05 Honeywell Inc. Système de traitement de signaux à lectures multiples pour gyroscope à laser en anneau

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4219276A (en) * 1978-10-02 1980-08-26 Rockwell International Corporation Detection system for ring laser gyro
FR2532418A1 (fr) * 1982-08-26 1984-03-02 British Aerospace Gyroscopes a laser en anneau
EP0239946A2 (fr) * 1986-04-02 1987-10-07 Honeywell Inc. Dispositif de mesure pour capteur de vitesse angulaire avec laser en anneau
US4787058A (en) * 1985-09-13 1988-11-22 Rockwell International Corporation Synthetic quadrature generating apparatus
EP0332412A1 (fr) * 1988-03-07 1989-09-13 Kearfott Guidance & Navigation Corporation Dispositif de contrôle simultané des franges d'interférences et de la puissance pour un gyroscope à laser en anneau

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4219276A (en) * 1978-10-02 1980-08-26 Rockwell International Corporation Detection system for ring laser gyro
FR2532418A1 (fr) * 1982-08-26 1984-03-02 British Aerospace Gyroscopes a laser en anneau
US4787058A (en) * 1985-09-13 1988-11-22 Rockwell International Corporation Synthetic quadrature generating apparatus
EP0239946A2 (fr) * 1986-04-02 1987-10-07 Honeywell Inc. Dispositif de mesure pour capteur de vitesse angulaire avec laser en anneau
EP0332412A1 (fr) * 1988-03-07 1989-09-13 Kearfott Guidance & Navigation Corporation Dispositif de contrôle simultané des franges d'interférences et de la puissance pour un gyroscope à laser en anneau

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0577030A1 (fr) * 1992-06-29 1994-01-05 Honeywell Inc. Système de traitement de signaux à lectures multiples pour gyroscope à laser en anneau

Also Published As

Publication number Publication date
EP0465493A1 (fr) 1992-01-15

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