CN1228609C - Beat frequency detection method for travelling-wave annular resonance cavity of non-mechanical gyro - Google Patents
Beat frequency detection method for travelling-wave annular resonance cavity of non-mechanical gyro Download PDFInfo
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Abstract
本发明提供了一种利用环形行波谐振腔测量非机械光学陀螺的拍频进而检测惯性系统角速度的方法。该方法是将行波环形谐振腔搁置在以某角速度旋转的惯性系统内，光波信号由2×2波导耦合器馈入该行波环形谐振腔中，使顺时针和逆时针两个方向上都有光波场传播，用波导耦合器直接从行波环形谐振腔上耦合出沿顺时针和逆时针方向相向传播的光信号，利用波导合波装置将这两个不同频率的谐振光波信号叠加得到拍频信号，通过低通滤波取出拍频信号，该拍频信号的频率值及变化对应被检测惯性系统的角速度及变化。本发明的检测方法对组成环形谐振腔的光纤或波导的保偏特性没有要求，测量精度提高，易于实现小型化。
The invention provides a method for measuring the beat frequency of a non-mechanical optical gyroscope by using an annular traveling wave resonant cavity to detect the angular velocity of an inertial system. The method is to place the traveling-wave ring resonator in an inertial system rotating at a certain angular velocity, and the light wave signal is fed into the traveling-wave ring resonator by a 2×2 waveguide coupler, so that both clockwise and counterclockwise With optical wave field propagation, the waveguide coupler is used to directly couple the optical signals propagating clockwise and counterclockwise from the traveling wave ring resonator, and the waveguide combining device is used to superimpose the two resonant optical wave signals of different frequencies to obtain a beat The beat frequency signal is extracted by low-pass filtering, and the frequency value and change of the beat frequency signal correspond to the angular velocity and change of the inertial system to be detected. The detection method of the invention has no requirements on the polarization-maintaining characteristics of the optical fiber or waveguide forming the ring resonant cavity, improves the measurement accuracy, and is easy to realize miniaturization.
Description
Technical field:
The invention belongs to the gyro technical field, especially a kind of beat frequency of (optical fiber) gyro based on travelling-wave annular resonance cavity detects the method for inertia system angular velocity.
Background technology:
The optical gyroscope technology that most important novel gyro technology is an on-mechanical at the beginning of 21 century, in numerous novel gyroscopes, the on-mechanical optical gyroscope, comprise laser gyro and optical fibre gyro, in the inertia system in one period is measured at present and in the future, formed the situation of contending for markets with the traditional mechanical gyro.This gyroscope has been different from the inertia type instrument on the original mechanical meaning based on the constant principle work of the light velocity, and it had not both had the parts of high speed rotating, does not also have the such liquid of liquid floated gyroscope, belongs to solid-state gyro.Up to the present, use more optical gyroscope---the precision of laser gyro is also in medium level, and when a key factor that influences its precision raising was the low rate input, laser gyro had dead band, i.e. a latch-up phenomenon.For overcoming this phenomenon, generally be the way that adds mechanical shaking to this gyro, perhaps make it rotation with turntable, improve its precision with the way that produces the speed biasing.These ways are effectively, also are limited simultaneously.Because they have increased the mechanical activity part again, make complex structure, shuttle shake can cause the increase of output noise again.Optical fibre gyro is the another kind of optical gyroscope that grows up in laser gyro after a while, it also is unable to catch up with the performance of laser gyro at present, but because the special role of optical fiber technology aspect modern communications technology, relative technology such as polarization maintaining optical fibre, superradiance swash, optical diode light source, coupling mechanism, polarizer and integrated optics etc. in low cost, miniaturization, be fit to obtaining aspect batch production and develop fast, thereby, have good development prospect.
Fibre optic gyroscope is at first developed test unit from the state university of Utah,U.S.A in 1976, subsequently, the scientific research institution of each developed country of the world and famous university have all dropped into very big human and material resources and energy is studied this rising novel optical fiber rotation rate sensor.Along with the development of Fibre Optical Communication Technology and optical fiber sensing technology, fibre optic gyroscope has been realized the breakthrough of inertia device.Abroad, 1
0/ h～0.01
0The engineering prototype of/h has been used for aircraft inertia measurement composite set.U.S. Li Dun company is with 0.1
0The fibre optic gyroscope of h is used for the inertial navigation system of tactical missile.Novel navigational system FNA2012 has adopted 1
0The fibre optic gyroscope of/h and satellite navigation GPS, the precision of U.S. Department of Defense's decision fibre optic gyroscope reached 0.01 in 1996
0/ h; Calendar year 2001 reaches 0.001
0/ h; Reached 0.0001 in 2006
0/ h has the trend that replaces traditional mechanical gyroscope.Fibre optic gyroscope is as the gyro of new generation that occurs after lasergyro, and the development work of various countries has obtained great progress.The development of fibre optic gyroscope is very important to inertial navigation and control field, and along with the development and the application of computing machine, microelectronics and technology such as optical fiber and photoelectron, it will replace traditional mechanical gyro and Platform Inertial Navigation System.Fibre optic gyroscope is compared with traditional mechanical gyroscope, advantage be all solid state, do not have rotary part and friction means, the life-span is long, dynamic range is big, instantaneous starting/simple in structure, size are little, in light weight.Compare with lasergyro, fibre optic gyroscope does not have latch-up problem, not be used in the quartz wedge Precision Machining yet and goes out light path, and cost is low.Fibre optic gyroscope can be divided into by classifying on the principle: interferometer type, resonant cavity type and optical-fiber type circular type laser gyroscope.The interferometer type fibre optic gyroscope can be divided into again according to the composition of light path: depolarized type, full fiber type and integrated optics type.The resonant cavity type fibre optic gyroscope can be divided into again according to the composition of light path: full fiber type and integrated optics type.The optical fiber type ring lasergyro that adopts is that a kind of directional gain effect of the stimulated Brillouin scattering in the optic fiber ring-shaped cavity of utilizing realizes utilizing Sagnac effect detection resonance speed at present, and its principle is similar fully to lasergyro.Owing to need not complicated modulation detection technique, extremely pay attention in the world.Because the difficult point of inertial navigation level interferometer type fibre optic gyroscope is to adopt the polarization maintaining optical fibre of 1km length, if use resonant cavity type fibre optic gyroscope scheme instead, then length can be kept to the optical fiber about 10m, thereby can realize the miniaturization of fibre optic gyroscope, its difficult point is: control circuit is than interferometer type optical fibre gyro complexity.Along with the development of asic technology, might obtain satisfied solution in the future, make the resonant cavity type optical fibre gyro become product.And adopt the fibre optic gyroscope of interferometer type resonant cavity formula hybrid plan to have bright development prospect.
Summary of the invention:
The present invention is on the basis to Sagnac effect principle and detection mechanism careful analysis, proposition is based on travelling-wave annular resonance cavity beat frequency gyro detection method, overcome existing non-mechanical gyro such as optical fibre gyro especially interfere type I-FOG and resonant mode gyro R-FOG to a lot of ghost effect sensitive issues.Details are as follows to its ultimate principle and technical scheme below in conjunction with accompanying drawing:
The Sagnac effect that is based on beat frequency detection method for travelling-wave annular resonance cavity of non-mechanical gyro of the present invention detects the angular velocity of tested plane relative inertness system, and from this aspect, its ultimate principle is consistent with interference type optical fiber gyroscope.Owing to utilize the responsive Sagnac frequency displacement of the very narrow resonance frequency of travelling-wave annular resonance cavity,, adopt Sagnac to encircle as sensitive element than weak point so this beat frequency detection method for travelling-wave annular resonance cavity is the same with existing non-mechanical resonator fiber optic gyro (R-FOG).
The present invention utilizes the annular traveling wave resonator cavity to measure the method for the beat frequency and then the detection inertia system angular velocity of on-mechanical optical gyroscope.The travelling-wave annular resonance cavity of describing is shelved in the inertia system of rotating with certain angular velocity, lightwave signal is by in 2 * 2 these travelling-wave annular resonance cavities of waveguide coupler feed-in, making all has light wave fields to propagate on the clockwise and counterclockwise both direction, be subjected to the effect of Sagnac effect, be subjected on the fiber optic loop at two light waves of propagating on the direction in opposite directions that acting on of similar Fabry-Perot resonator cavity is remaining separately behind the system stability satisfies the light wave that phase condition is a resonance frequency.Directly be coupled out along clockwise and the light signal of counterclockwise propagating in opposite directions the corresponding respectively resonance frequency that satisfies method-appearance position, the amber chamber condition that causes by the Sagnac effect of the frequency of these two signals from travelling-wave annular resonance cavity with waveguide coupler; Utilize of the resonance lightwave signal stack of waveguide composite wave appts with these two different frequencies.Owing on travelling-wave annular resonance cavity, introduced waveguide coupler, make the lightwave signal that takes out not only comprise transverse electric mode but also comprise transverse magnetic wave, i.e. elliptical light, thus after stack, can obtain beat signal, and take out beat signal by low-pass filtering.The frequency values of this beat signal and change the angular velocity and the variation thereof of corresponding detected inertia system.
Described travelling-wave annular resonance cavity structure can be to be made of discrete component, also can be integrated the getting under any yardstick.Travelling-wave annular resonance cavity can be the ring of any enclosed shape, and what constitute this ring-like cavity configuration can be the waveguide of any kind, comprise polarization, single partially and protect inclined to one side optical fiber.
Described from travelling-wave annular resonance cavity be coupled out along clockwise and the coupling mechanism of the light signal of counterclockwise propagating in opposite directions be one 2 * 2 waveguide coupler or two 1 * 2 directed waveguide couplers.
The method of described light source feed-in ring cavity can be called dual input does not have the absorption symmetrical structure, as shown in Figure 1, adopt two input ends 1 and 10 that signal is passed through 2 * 2 waveguide couplers, 2 feed-in row wave ring type resonator cavitys, some is coupled into travelling-wave annular resonance cavity to the signal of two port inputs respectively, and another part enters another input end by coupling mechanism and forms closed light circuit.
This scheme comprises the structure of two kinds of coupling beat frequency light fields.In Fig. 1 (a), light source with a certain spectrum width is by input end 1 feed-in, be coupled into the Sagnac travelling-wave annular resonance cavity 3 that is made of fibre-optic waveguide in part field, coupling mechanism 2 places, another part forms closed light circuit by coupling mechanism 2 to entering another input end 10.Be coupled in the Sagnac ring cavity the field satisfy condition of resonance be phase-matching condition (wave field that promptly is in resonant condition be a certain frequency wave field along one week of Sagnac ring cavity transmission the wave-path that experienced of back be the integral multiple of the wave field wavelength of this frequency) and when reaching stable state, the field of a certain frequency in the ring cavity will reach a kind of mobile equilibrium, promptly be in resonant condition, then by attenuation, this ring cavity just is not called travelling-wave annular resonance cavity because phase place does not satisfy coupling in the field of all the other frequencies.Corresponding, also some is coupled into the Sagnac ring cavity from the wave field of another input end 10 inputs of (light) that enters the ring-like chamber of Sagnac, because the Sagnac effect has the wave field of another frequency to be in resonant condition equally; The wave field while that is in resonant condition, some will be coupled away at coupling mechanism 2 places.Therefore, in resonator cavity, be energized out clockwise direction and counterclockwise on two resonant conditions.When but the wave-path of two of this resonator cavity wave field experience of transmitting on the direction in opposite directions was reciprocity, these two resonant conditions were degeneracys, and resonance frequency is identical.When the wave-path on the both direction in the Sagnac ring cavity is nonreciprocal, these two resonant conditions will divide, and obtain two resonance frequencies.The scheme of the detection resonance frequency of existing non-mechanical resonator fiber optic gyroscope generally is to detect both direction is measured inertia system because of the difference of the trap frequency value (being resonance frequency) of resonance generation angular velocity.In as Fig. 1 (a), method of the present invention adopts 1 * 2 fibre-optic waveguide coupling mechanism 5 and 12 respectively with the clockwise resonance wave field of part (harmonic light) 11 and anticlockwise resonance wave field (harmonic light) 4 coupled into optical fibres waveguides 6 and 8, and they are at composite wave appts---the stack of fibre-optic waveguide wave multiplexer 7 places.Because coupling mechanism 2,5 and 12 introducing, the actual light wave that enters in fibre-optic waveguide 6 and 8 transmits in the discontinuous wave guide structure and will inspire transverse electric mode and transverse magnetic wave, makes the sure beat frequency that obtains after ripple is closed at composite wave appts 7 places.Wave field through composite wave appts 7 outputs is surveyed (as opto-electronic conversion), low-pass filtering, Instantaneous Frequency Measurement by measuring with angular velocity display module 9 at beat frequency, obtains the beat frequency rate value.When but the wave-path of two of the resonator cavity wave field experience of transmitting on the direction in opposite directions was reciprocity, two resonant conditions were degeneracys, promptly do not have the Sagnac effect and produce, and inertia system remains static, and the beat frequency value is zero; When the wave-path of two of the resonator cavity wave field experience of transmitting on the direction in opposite directions when being nonreciprocal, two resonant conditions divides, and the beat frequency that obtains is exactly the difference on the frequency of the nonreciprocity generation that caused by the Sagnac effect, and frequency can obtain magnitude of angular velocity thus.Therefore, as long as inertia system is in the nonstatic state, existing the angle to rotate just has beat frequency to produce, and not only can not have latch-up phenomenon, and its measuring accuracy also will be than existing optical gyroscope height.
The scheme of the another kind of this light source feed-in structure coupling beat frequency shown in Fig. 1 (b), 1 * 2 fibre-optic waveguide coupling mechanism 5 and 12 that the fibre-optic waveguide coupling mechanism 15 with 2 * 2 replaces among Fig. 1 (a).And this 2 * 2 coupling mechanism 15 output on waveguide 6 and 8 is in the clockwise direction or the sub-fraction (as 10) of counter clockwise direction resonance wave field power, to guarantee that the resonance wave field is in equilibrium state in the Sagnac ring resonator.
The method of described light source feed-in ring cavity can be called the formula that the reenters structure of single input, as Fig. 2, adopt an input end 1 that signal is passed through 2 * 2 waveguide couplers, 2 feed-in row wave ring type resonator cavitys 3, some is coupled into travelling-wave annular resonance cavity 3 signal of this port input, and another part enters reflection end 14 and is reflected back toward input end 1 by coupling mechanism 2.This scheme also comprises two kinds of beat frequency coupled structures, and compared to Figure 1, except signal feed-in mode difference, all the other structures are identical, respectively shown in Fig. 2 (a) and 2 (b).
The method of described light source feed-in ring cavity can be called symmetric double input absorbing structure, as Fig. 3, two input ends 1 and 10 respectively with signal by 2 * 2 waveguide couplers 2 and 15 feed-in row wave ring type resonator cavitys 3, some field of the signal of each port input is coupled into travelling-wave annular resonance cavity 3, and another part enters by coupling mechanism 2 and 15 respectively and absorbs or isolation end 16 and 17.This scheme also comprises two kinds of beat frequency coupled structures, compares with Fig. 1 and 2, and except signal feed-in mode difference, all the other structures are identical, respectively shown in Fig. 3 (a) and 3 (b).
As shown in Figure 4, entering before 7, waveguide 6 or 8 can be quadrature wave field (two completely orthogonal linearly polarized lights) with the wave field of avoiding waveguide 6 and 8 to come through a polarization beam apparatus 13.But, as the above analysis, transverse electric mode and transverse magnetic wave are arranged simultaneously from the wave field of waveguide coupler output, enter 7 the sure generation beat frequency of wavefield signals, this polarization beam apparatus not necessarily, it has or not the position that does not influence beat frequency, but can influence its peak value.The purpose that provides this figure is only to explain the ambiguity that produces from geometrical optics for preventing.
The FD feed source that described measuring method adopts can also be the signal source of infrared, microwave signal or radiofrequency signal etc. except that lightwave signal; The travelling-wave annular resonance cavity structure of corresponding employing can be disc waveguide or optical fiber, the waveguide of microwave annular traveling wave, infrared or radio-frequency cavity.
The principal feature of the inventive method is directly to be coupled out resonance wave field on the both direction from travelling-wave annular resonance cavity, and utilized transverse electric mode and transverse magnetic wave (polarized light) to detect the rotational angular velocity that beat frequency between them is determined inertia system simultaneously, thereby, also be different from the fine gyro of stimulated Brillouin scattering light simultaneously not only being different from the resonator fiber optic gyro that produces trap on the existing non-mechanical gyro detection both direction because of resonance on principle and the structure.
Existing non-mechanical optical gyroscope especially optical fibre gyro is subjected to the puzzlement of noise and polarization uncertainty etc., makes precision and miniaturization be affected, and technology (as Y waveguide etc.) is had higher requirement.The present invention utilizes wave field coupling and row wave resonance chamber based on the Sagnac effect, is different from existing various non-mechanical optical gyroscopes on signal detecting mode and mechanism, not only the optical fiber of composition ring resonator or the polarization property of waveguide is not required; The principle of the existing resonance gyro of the present invention has the characteristic of interfere type gyro again in theory, has overcome simultaneously the drawback that many ghost effects of existing resonant mode and interfere type bring again, thereby measuring accuracy is improved greatly, and be easy to realize miniaturization.
Description of drawings:
Fig. 1 does not have the pick-up unit synoptic diagram that absorbs symmetrical structure for adopting dual input;
Fig. 2 is for adopting the pick-up unit synoptic diagram that reenters the formula structure;
Fig. 3 is for adopting the pick-up unit synoptic diagram of symmetric double input absorbing structure;
Wherein, Fig. 1 (a), Fig. 2 (a), Fig. 3 (a) are two 1 * 2 fibre-optic waveguide coupling mechanisms and are coupled out resonance wave field light signal, and Fig. 1 (b), 2 (b), 3 (b) are one 2 * 2 fibre-optic waveguide coupling mechanism and are coupled out resonance wave field light signal.
Fig. 4 closes the structural representation that wavefront adds the polarization beam splitting device;
Fig. 5 is a pick-up unit synoptic diagram of realizing with optical fiber.
Among the figure:
1,10-enter (light) input end in the ring-like chamber of Sagnac
2,15,18-2 * 2 waveguides (optical fiber) coupling mechanism
3-Sagnac travelling-wave annular resonance cavity
4-counterclockwise resonance wave fields (light)
5,12-1 * 2 waveguides (optical fiber) coupling mechanism
6,8-waveguide (optical fiber) line
7-waveguide (optical fiber) composite wave appts
9-beat frequency is measured and the angular velocity display module
11-clockwise direction resonance wave field (light)
13-polarization beam splitting device
14-reflection end
16,17-absorption or isolation end
Embodiment:
As shown in Figure 5, an embodiment for adopting optical fiber to realize according to theory structure shown in Fig. 1 (a).Among the figure, LR is wideband light source such as super-fluorescence light source; C
1And C
4Be 1 * 2 fibre-optic waveguide coupling mechanism, C
2And C
3It is 2 * 2 fibre-optic waveguide coupling mechanism; R is a fiber resonance cavity, the bandwidth match of its parameter and light source; P is optional polarization beam apparatus, and it has the position that influences beat frequency invariably, but can influence its peak value; BD is opto-electronic conversion, low-pass filtering, beat frequency detection (Instantaneous Frequency Measurement), and S is angular speed calculation and demonstration.
Device as shown in Figure 5 is positioned in a certain inertia system, and the light that is sent by light source LR is through coupling mechanism C
1After be divided into two bundles, and by 2 * 2 coupling mechanism C
2All with among the part light wave coupled into optical fibres travelling-wave annular resonance cavity R, remainder light separately with C
1Form light circuit.Enter light among the resonator cavity R reach stable after, from coupling mechanism C
3The light that comes out only has the radio-frequency component relevant with the Sagnac effect.Wherein one road signal (also can save this step) behind polarization beam splitting, at wave multiplexer C
4Place's signal stack.By low-pass filter circuit BD, obtain beat signal.This signal value calculates magnitude of angular velocity by S and shows or deliver to the control center of inertia system.
Claims (5)
1. passive resonance type optical fibre gyro beat frequency detection method, it is characterized in that travelling-wave annular resonance cavity is shelved in the inertia system of rotating with certain angular velocity, lightwave signal is by in 2 * 2 these travelling-wave annular resonance cavities of waveguide coupler feed-in, making all has light wave fields to propagate on the clockwise and counterclockwise both direction, directly be coupled out along light signal clockwise and that counterclockwise propagate in opposite directions with waveguide coupler from travelling-wave annular resonance cavity, utilize the waveguide composite wave appts that the resonance lightwave signal stack of these two different frequencies is obtained beat signal, and take out beat signal by low-pass filtering, the frequency values of this beat signal and change the angular velocity and the variation thereof of corresponding detected inertia system.
2. detection method as claimed in claim 1 is characterized in that the coupling mechanism of coupling luminous signal is one 2 * 2 waveguide coupler or two 1 * 2 directed waveguide couplers from the travelling-wave annular resonance cavity.
3. measuring method as claimed in claim 1 or 2, what it is characterized in that described lightwave signal feed-in ring cavity employing is that dual input does not have the absorption symmetrical structure, promptly, adopt two input ends that signal is passed through 2 * 2 waveguide coupler feed-in row wave ring type resonator cavitys, some is coupled into travelling-wave annular resonance cavity to the signal of two port inputs respectively, and another part enters another input end by coupling mechanism and forms closed light circuit.
4. measuring method as claimed in claim 1 or 2, what it is characterized in that described lightwave signal feed-in ring cavity employing is the formula that the reenters structure of single input, promptly, adopt an input end that signal is passed through 2 * 2 waveguide coupler feed-in row wave ring type resonator cavitys, some is coupled into travelling-wave annular resonance cavity the signal of this port input, and another part enters reflection end and is reflected back toward input end by coupling mechanism.
5. detection method as claimed in claim 1 or 2, what it is characterized in that described lightwave signal feed-in ring cavity employing is symmetric double input absorbing structure, promptly, adopt two input ends respectively signal to be passed through two 2 * 2 waveguide coupler feed-in row wave ring type resonator cavitys, some field of the signal of each port input is coupled into travelling-wave annular resonance cavity, and another part enters by coupling mechanism respectively and absorbs or isolation end.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101169324B (en) * | 2006-10-23 | 2010-09-29 | 北京理工大学 | Photon Injection Saturated Absorption Lock Model Fiber Laser Gyroscope |
| CN101949712A (en) * | 2010-09-07 | 2011-01-19 | 中北大学 | Simple structure for verifying optical gyroscopic effect |
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| CN102003959B (en) * | 2010-10-09 | 2012-05-23 | 浙江大学 | Annular optical microcavity type optical fiber gyro |
| CN102957480B (en) * | 2011-08-25 | 2016-07-06 | 鸿富锦精密工业（深圳）有限公司 | Light emitting devices |
| CN103344233B (en) * | 2013-07-06 | 2016-03-02 | 北京航空航天大学 | A kind of hollow optic fibre gas laser gyro |
| US9733084B2 (en) * | 2015-09-09 | 2017-08-15 | Honeywell International Inc. | Single pump cascaded stimulated Brillouin scattering (SBS) ring laser gyro |
| CN107843248B (en) * | 2017-09-01 | 2021-05-14 | 长春理工大学 | Self-injection locking resonant optical gyroscope and its working method |
| CN109357672B (en) * | 2018-10-31 | 2020-11-27 | 浙江大学 | A bidirectional optical carrier microwave resonance system based on circulator structure and method for detecting angular velocity |
| CN112361955B (en) * | 2020-11-16 | 2022-07-08 | 中国航空工业集团公司北京长城计量测试技术研究所 | Optical fiber Sagnac interferometer based on femtosecond laser |
| CN114264294B (en) * | 2021-12-24 | 2023-05-05 | 浙江大学 | Angular velocity detection system and method based on combination modulation low-coherence light integration |
| CN118362107B (en) * | 2024-04-22 | 2025-03-04 | 南京大学 | High-sensitivity gyroscope based on photon drag effect |
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2002
- 2002-06-20 CN CN 02124096 patent/CN1228609C/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101169324B (en) * | 2006-10-23 | 2010-09-29 | 北京理工大学 | Photon Injection Saturated Absorption Lock Model Fiber Laser Gyroscope |
| CN101949712A (en) * | 2010-09-07 | 2011-01-19 | 中北大学 | Simple structure for verifying optical gyroscopic effect |
| CN101949712B (en) * | 2010-09-07 | 2012-07-25 | 中北大学 | Simple structure for verifying optical gyroscopic effect |
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| CN1382958A (en) | 2002-12-04 |
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