A jitter noise injection method for multi-state combined laser gyroscope

Abstract

The present invention discloses a jitter noise injection method for a multi-state combined laser gyroscope, comprising: multiplying a first waveform with a preset second sine wave to obtain a first initial state waveform; multiplying a second waveform with a preset seventh square wave to obtain a third waveform; multiplying a fourth waveform with a preset sixth square wave to obtain a fifth waveform; summing the third waveform and the fifth waveform to obtain a square wave drive waveform; multiplying the square wave drive waveform with a preset third sine wave to obtain a second initial state waveform; multiplying the first initial state waveform with a preset value to obtain a sixth waveform, adding the sixth waveform to the first initial state waveform to obtain a third initial state waveform; subtracting the second initial state waveform from the third initial state waveform to obtain a multi-state drive waveform, multiplying the multi-state drive waveform with a preset fourth sine wave to obtain a final waveform, and injecting the final waveform into the laser gyroscope. The present invention can effectively solve the jitter noise injection problem of multiple types of laser gyroscopes, reduce low-frequency and high-frequency noise, and enrich the noise spectrum near the jitter frequency.

Description

Technical Field

[0001] The invention belongs to the technical field of precision laser gyroscopes, and in particular relates to a jitter noise injection method for a polymorphic combined laser gyroscope. Background Art

[0002] The laser gyroscope is different from the traditional mechanical gyroscope. It is composed of a closed quadrilateral or triangular resonant cavity. The gyroscope cavity is equipped with an output reflector, a control reflector, and a deflection reflector. The helium-neon laser forms a closed loop through the reflector. The beam splitter will split a laser beam into two laser beams propagating in the forward and reverse directions. When the object moves and produces angular displacement, the two laser beams will meet and produce interference, which can be used to calculate the angular velocity of the object. Its accuracy is much higher than that of a mechanical gyroscope. Since the laser gyroscope has no moving parts, it is easy to maintain, has high reliability, and has a long service life, so it has become a core component in the inertial reference system.

[0003] The lock zone of the laser gyroscope is the key to limiting the working accuracy of the gyroscope. The lock zone essentially refers to the state where the pulse output of the gyroscope cannot meet the pulse counting analysis requirements at a certain speed due to gyroscope loss and other reasons. The key to solving the laser gyroscope lock problem lies in jitter. The jitter function can subdivide the gyroscope lock zone into multiple small lock zones and optimize the small lock zones by injecting noise.

[0004] At present, the jitter control of laser gyroscopes is mainly based on white noise sine waves and high and low periodic square waves. The white noise sine wave jitter method is one of the more mature jitter methods in the development of laser gyroscopes. This method is a fixed-frequency sine wave, which is multiplied by a white noise with the same frequency as the jitter frequency through a multiplier, and then the laser gyroscope is jittered through proportional amplification and power amplifier circuits. However, after FFT analysis, it can be seen that although the noise spectrum is relatively rich, the high-frequency and low-frequency response amplitudes of the gyroscope's non-resonance point are large, and the response amplitudes are large at odd and even times of frequency, which has a negative impact on the gyroscope when it works at the resonant point. At the same time, the high-frequency noise response amplitude between odd and even times of frequency is also relatively large, which will lead to a reduction in the noise injection effect. The high and low periodic square wave jitter method can be synthesized using direct digital frequency synthesis or obtained by multiplying a square wave with the same frequency as the jitter frequency and a low-frequency periodic square wave. However, this type of jittering method has a relatively simple noise injection, the noise near the jittering frequency is not rich enough, and the feedback amplitude of the odd-order multiples of the jittering frequency is large, which will introduce high-frequency noise and have a negative impact on the jittering noise injection. It has a certain negative impact on the noise injection effect and the unlocking effect of the laser gyroscope. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a multi-state combined laser gyroscope jitter noise injection method, which can effectively solve the jitter noise injection problem of multiple types of laser gyroscopes, reduce low-frequency and high-frequency noise, and enrich the noise spectrum near the jitter frequency.

[0006] The object of the present invention is achieved through the following technical scheme: A multi-state combined laser gyroscope jitter noise injection method, comprising: setting a first sine wave, multiplying the first sine wave with a preset first square wave to obtain a first waveform; multiplying the first waveform with a preset second sine wave to obtain a first initial waveform; setting a second square wave, multiplying the second square wave with a preset third wave to obtain a second waveform; multiplying the second waveform with a preset seventh square wave to obtain a third waveform; setting a fourth square wave, multiplying the fourth square wave with a preset fifth square wave to obtain a fourth waveform; multiplying the fourth waveform with a preset sixth square wave to obtain a fourth waveform. The square waves are multiplied to obtain the fifth waveform; the third waveform and the fifth waveform are summed to obtain the square wave driving waveform; the square wave driving waveform is multiplied by the preset third sine wave to obtain the second initial state waveform; the first initial state waveform is multiplied by the preset value to obtain the sixth waveform, and the sixth waveform is added to the first initial state waveform to obtain the third initial state waveform; the third initial state waveform is subtracted from the second initial state waveform to obtain the multi-state driving waveform, and the multi-state driving waveform is multiplied by the preset fourth sine wave to obtain the final waveform, and the final waveform is injected into the laser gyroscope shaking component. The shaking component is mainly made of indium steel and piezoelectric ceramics. Since piezoelectric ceramics have polarity, the piezoelectric ceramics can be stretched and contracted by applying a changing driving voltage to them to achieve the shaking function.

[0007] In the above-mentioned multi-state combined laser gyroscope jitter noise injection method, the preset second sine wave is a sine wave with equal amplitude and offset; wherein the frequency of the preset second sine wave is preset to YHz, and the amplitude and offset of the preset second sine wave are preset to aV.

[0008] In the above-mentioned multi-state combined laser gyroscope jitter noise injection method, the frequency of the first sine wave is preset to X Hz, and the amplitude of the first sine wave is 3a V; the preset first square wave is a square wave with equal amplitude and offset; the frequency of the preset first square wave is equal to the frequency of the preset second sine wave, and the amplitude and offset of the preset first square wave are both 0.5a V; the first waveform is a waveform of alternating transformation of a sine wave with the same amplitude as the first sine wave and a 0 level.

[0009] In the above-mentioned multi-state combined laser gyroscope jitter noise injection method, the second square wave is a square wave with the same phase as the preset first square wave, XHz and amplitude 3aV; the preset third wave is a square wave with equal amplitude and offset and a phase of 180 degrees; wherein the frequency of the preset third wave is equal to the frequency of the preset second sine wave, and the amplitude and offset of the preset third wave are both preset to -0.5aV.

[0010] In the above-mentioned multi-state combined laser gyroscope jitter noise injection method, the preset seventh square wave is a square wave with equal amplitude and bias and a phase of 180 degrees; wherein the frequency of the preset seventh square wave is half the frequency of the preset second sine wave, and the amplitude and bias of the preset third wave are both preset to 0.4a V.

[0011] In the above-mentioned multi-state combined laser gyroscope jitter noise injection method, the fourth square wave is a square wave with the same phase as the preset first square wave, X Hz, and an amplitude of 3aV; the preset fifth square wave is a square wave with equal amplitude and offset and a phase of 180 degrees; wherein the frequency of the preset fifth square wave is equal to the frequency of the preset second sine wave, and the amplitude and offset of the preset fifth square wave are both preset to -0.5aV.

[0012] In the above-mentioned multi-state combined laser gyroscope jitter noise injection method, the preset sixth square wave is a square wave with equal amplitude and bias and a phase of 0 degree; wherein the frequency of the preset sixth square wave is half the frequency of the preset second sine wave, and the amplitude and bias of the preset sixth square wave are both preset to 0.4a V.

[0013] In the above-mentioned multi-state combined laser gyroscope jitter noise injection method, the frequency of the preset third sine wave is equal to the frequency of the preset second sine wave, the amplitude of the preset third sine wave is 0.3 times the amplitude of the preset second sine wave, and the bias of the preset third sine wave is 0.6 times the bias of the preset second sine wave.

[0014] In the above-mentioned multi-state combined laser gyroscope jitter noise injection method, the preset value is a random number between 0.5 and 1.

[0015] In the above-mentioned multi-state combined laser gyroscope jitter noise injection method, the preset fourth sine wave is a sine wave with Y / 2Hz, amplitude 0.2aV, and bias aV; the frequency of the preset fourth sine wave is half the frequency of the preset second sine wave, the amplitude of the preset fourth sine wave is 0.2 times the amplitude of the preset second sine wave, and the bias of the preset fourth sine wave is equal to the bias of the preset second sine wave.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) The effect achieved by the features of steps one and two of the present invention is that the sine wave energy injection is more uniform. When the jitter is strong, the capacitive jitter wheel can be in a gentle change state, thereby protecting the jitter wheel ceramic plate and extending the service life. The low-frequency sine wave is superimposed on the drive signal, which can slowly inject the sine wave energy and enrich the jitter noise. When the high and low changes bring energy fluctuations, the energy transfer to the laser gyroscope also changes periodically, thereby effectively dividing the laser gyroscope lock area.

[0018] (2) The present invention achieves the effect of steps 3, 4, 5, 6, 7, and 8 by using a square wave with stronger energy for excitation when the gyro jitter is weak, and multiplying the square wave by a sine wave can make the energy change of the ceramic piece more moderate. The added odd-even cycle duty cycle change can effectively enrich the spectrum of the jitter noise, and the noise near the jitter frequency can be effectively enriched by adjusting the amplitude and duty cycle of the square wave part, while minimizing the influence of odd and even multiples of the jitter frequency.

[0019] (3) The effect achieved by the present invention through the features of steps nine and ten is to enrich the noise spectrum near the jitter frequency of the sine wave drive part. At the same time, through the multi-layer waveform design, the noise spectrum can be further optimized to reduce the negative impact of odd and even frequency multiplication and low frequency. The driving waveform finally obtained has a good noise injection effect and stabilizes the overall jitter amplitude of the jitter wheel.

[0020] (4) The present invention completes the design of a multi-state combined dither through steps 1 to 10. The noise spectrum is relatively rich, and the high-frequency and low-frequency response amplitudes of the gyroscope non-resonance point are small, and the odd-order and even-order frequency multiplication response amplitudes are small, which can inject appropriate noise into the laser gyroscope when it works at the resonance point. At the same time, the high-frequency noise response amplitude between the odd-order and even-order frequency multiplication is small, which can ensure the noise injection effect.

[0021] (5) The initial sine and square wave signals in the present invention can be directly controlled and generated by a digital-to-analog circuit converter, which is simple and convenient. For biased signals, it can be realized by adding a reference voltage and using an analog circuit. It will be even simpler and easier if a direct digital frequency synthesis method is used. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0023] Figure 1 It is a schematic diagram of sine and square wave polymorphic combination jitter;

[0024] Figure 2 It is a schematic diagram of sine and duty cycle odd-even periodic square wave multi-state combined jitter (35%-65%);

[0025] Figure 3 It is a schematic diagram of multi-layer sine and square wave polymorphic combination jitter;

[0026] Figure 4 It is a schematic diagram of square wave and sine multi-state combination jitter;

[0027] Figure 5 It is a schematic diagram of multi-layer sinusoidal and duty cycle odd-even periodic square wave multi-state combined jitter (45%-55%). DETAILED DESCRIPTION

[0028] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0029] This embodiment provides a multi-state combined laser gyroscope jitter noise injection method, the method comprising the following steps:

[0030] Step 1: According to the design of the thickness of the laser gyroscope's wheel-shaking blades and the actual measurement results, set the circuit output jitter frequency, that is, the waveform related to the overall resonant frequency of the laser gyroscope. Set the first sine wave, and multiply the first sine wave by the preset first square wave to obtain the first waveform. According to the laser gyroscope's jitter frequency, set the output of a sine wave with an amplitude of XHz and 3aV as an example. Multiply the waveform by a square wave of YHz, 0.5aV amplitude, 0.5aV bias, 50% duty cycle or other proportions to obtain a waveform of alternating conversion of an equal-amplitude sine wave and a 0-level. Specifically, according to the laser gyroscope's jitter frequency, set the output of a sine wave with an amplitude of 630Hz and 3V as an example. Multiply the waveform by a square wave of 17.5Hz, 0.5V amplitude, 0.5V bias, and 50% duty cycle to obtain a waveform of alternating conversion of an equal-amplitude sine wave and a 0-level.

[0031] Step 2: Multiply the first waveform by the preset second sine wave to obtain the first initial state waveform. Specifically, the preset second sine wave is a sine wave with Y Hz, amplitude a V, and bias a V. Further, the first waveform obtained in step 1 is multiplied by a sine wave with 17.5 Hz, amplitude 1 V, and bias 1 V to obtain a waveform of alternating changes of amplitude gradually changing sine wave and 0 level, which is called the first initial state waveform.

[0032] Step three: Set the second square wave, and multiply the second square wave with the preset third wave to obtain the second waveform. Specifically, the second square wave is a square wave with the same phase as the preset first square wave, XHz, amplitude 3aV and duty cycle 55%; the preset third wave is a square wave with YHz, amplitude -0.5aV, bias -0.5aV, duty cycle 50%, and phase 180 degrees. Further, set the output to be a 630Hz square wave with an amplitude of 3V and a duty cycle of 55% that is in the same phase as the preset first square wave in step one. Multiply this waveform by a square wave of 17.5Hz, amplitude -0.5V, bias -0.5V, duty cycle 50%, and phase 180 degrees to obtain a waveform of alternating changes between an equal-amplitude square wave and a 0 level.

[0033] Step 4: Multiply the second waveform by the preset seventh square wave to obtain the third waveform. Specifically, the preset seventh square wave is a square wave of Y / 2Hz, amplitude 0.4aV, offset 0.4aV, and phase 180 degrees. Further, multiply the waveform obtained in step 3 by a square wave of 8.75Hz, amplitude 0.4V, offset 0.4V, duty cycle 50%, and phase 180 degrees to obtain a waveform of the even period of the square wave part.

[0034] Step 5: Set the fourth square wave, and multiply the fourth square wave with the preset fifth square wave to obtain the fourth waveform. Specifically, the fourth square wave is a square wave with an amplitude of 3aV, X Hz, and the same phase as the preset first square wave; the preset fifth square wave is a square wave with an amplitude of -0.5aV, a bias of -0.5aV, and a phase of 180 degrees. Further, set the output of a 630Hz square wave with an amplitude of 3V and a duty cycle of 45% in the same phase as step one. Multiply this waveform by a square wave of 17.5Hz, an amplitude of -0.5V, a bias of -0.5V, a duty cycle of 50%, and a phase of 180 degrees to obtain a waveform of alternating changes between an equal-amplitude square wave and a 0 level.

[0035] Step 6: Multiply the fourth waveform by the preset sixth square wave to obtain the fifth waveform. Specifically, the preset sixth square wave is a square wave of Y / 2Hz, amplitude 0.4aV, bias 0.4aV, and phase 0 degrees. Further, the fourth waveform obtained in step 5 is multiplied by a square wave of 8.75Hz, amplitude 0.4V, bias 0.4V, duty cycle 50%, and phase 0 degrees to obtain a waveform of the odd-numbered period of the square wave part.

[0036] Step 7: The third waveform and the fifth waveform are summed to obtain a square wave driving waveform. Specifically, the odd and even period waveforms obtained in step 4 and step 6 are summed through an adder to form a square wave driving waveform with an odd and even period duty cycle adjustment change, and alternating equal amplitude square waves and 0 level. The position of the square wave in the cycle of this waveform is exactly the 0 level position in the sine wave.

[0037] Step 8: Multiply the square wave drive waveform by the preset third sine wave to obtain the second initial state waveform. Specifically, the preset third sine wave is a sine wave with YHz, amplitude 0.3aV, and bias 0.6aV. Further, multiply the waveform in step 7 by a sine wave with a 17.5Hz, amplitude 0.3V, and bias 0.6V to obtain a waveform of alternating amplitude gradient square wave and 0 level, which is called the second initial state waveform.

[0038] Step 9: Multiply the first initial state waveform by a preset value to obtain a sixth waveform, and add the sixth waveform to the first initial state waveform to obtain a third initial state waveform. Specifically, the first initial state waveform is multiplied by a random number between 0.5 and 1, and then the waveform is added to the first initial state waveform by an adder to obtain a waveform of alternating changes of a sine wave with a gradually changing amplitude and a 0 level with random noise, which is called the third initial state waveform.

[0039] Step 10: Subtract the second initial state waveform from the third initial state waveform to obtain a multi-state drive waveform, multiply the multi-state drive waveform by the preset fourth sine wave to obtain the final waveform, and inject the final waveform into the laser gyroscope jitter component. The preset fourth sine wave is a sine wave with a Y / 2Hz, an amplitude of 0.2aV, and a bias of aV. The specific method is as follows: subtract the second initial state waveform from the third initial state waveform to obtain a multi-state drive waveform. Then use this waveform to multiply a sine wave with an amplitude of 8.75Hz, an amplitude of 0.2V, and a bias of 1V to obtain a multi-layer sine and square wave multi-state combined jitter waveform, thereby obtaining the final waveform. Inject the final waveform into the jitter component of the laser gyroscope. The jitter component is mainly made of indium steel and piezoelectric ceramics bonded together. Since piezoelectric ceramics have polarity, the piezoelectric ceramics can be stretched and changed by applying a changing driving voltage to the piezoelectric ceramics to realize the jitter function. Preferably, after obtaining the final waveform, a multiplier can be added to scale the overall drive amplitude of the waveform in proportion, thereby adjusting the overall size of the control drive.

[0040] like Figure 1 and Figure 2As shown, normal signals such as sine and square waves are classified and combined with the same period and number or randomly combined with different numbers of the same period to generate a multi-state combination jitter signal. It is ensured that within a certain △T time, the area enclosed by time and amplitude is equal in the positive and negative directions, that is, in order to ensure that the positive and reverse energies of the ceramic are equal during multi-state jitter, the gyroscope is in a balanced state under the action of the frequency deviation. This embodiment is explained using a sine combined with a square wave as an example, mainly because the energy injection of the sine wave is more uniform, and when the jitter is strong, the capacitive jitter wheel can be in a gentle changing state, and when the jitter is mild, the square wave can be used to enable the gyroscope to obtain more energy to put it outside the lock area.

[0041] like Figure 5 As shown, after the sine wave is combined with the square wave or other normal signals, the result is combined with the required periodic low-frequency sine signal, so that the waveform contour is round and smooth, and there is no sudden signal point. Since the ceramic piece stores the charge in the jitter wheel component, and the ceramic piece can be approximately regarded as a capacitor, the low-frequency round waveform can better adapt to the capacitive characteristics of ceramics in the spectrum and practical applications. If the square wave is combined with the sine wave or other signals with the same period but different quantities, it is necessary to calculate so that the positive and negative half-cycle areas of the square wave and the sine wave are approximately equal within a certain △T time, and it must be ensured that the maximum value of the signal and the maximum value of the adjacent signal show a slow change trend. However, this combined state jitter method may be difficult to implement. The realization of this waveform requires the assistance of a DSP chip with faster calculations. At the same time, it is necessary to generate random numbers in a similar way to the rotation matrix, and then generate the waveform through mathematical operations.

[0042] like Figure 5 As shown, the general square wave splicing part can be superimposed with periodic duty cycle changes. In addition, the square waves with duty cycle changes can be the same period, the same number, and the same duty cycle, or different numbers and different duty cycles in the same period, as long as the positive and negative energy of the jitter is approximately equal. The periodic change of the square wave duty cycle can enrich the jitter noise, but it will slightly increase the low-frequency and double-frequency noise. Therefore, considering its rich multi-band noise, the advantages outweigh the disadvantages, and you can try to adjust it within plus or minus 5%.

[0043] After the combination of normal waves such as sine and square waves is completed, the jitter amplitude is recombined for the overall period of the combined wave to further enrich the jitter noise spectrum. At the same time, the generated jitter waveform is multiplied by a random number between (0.5-1) and then superimposed on the original waveform in proportion, which can also continue to enrich the jitter noise. The polymorphic combination jitter method can greatly enrich the jitter noise and absorb the advantages of multiple waveform noise injection. However, the choice of combination mode needs to be determined according to the actual situation, and the appropriate position in the waveform should be selected for combination according to the characteristics of different waveforms. Figure 4 As shown in the figure, it can be seen that if the combination method is incorrect or the duty cycle ratio is inappropriate, it will have a negative impact on the noise injection effect. Figure 3 and Figure 5 As shown, it has a better noise injection effect and can produce positive effects.

[0044] The effect achieved by the characteristics of steps one and two of the present invention is that the sine wave energy injection is more uniform. When the jitter is strong, the capacitive jitter wheel can be in a gentle change state, thereby protecting the jitter wheel ceramic piece and extending the service life. The low-frequency sine wave is superimposed on the drive signal, which can slowly inject the sine wave energy and enrich the jitter noise. When the high and low changes bring energy fluctuations, the energy transfer to the laser gyroscope also changes periodically, thereby effectively dividing the laser gyroscope lock area.

[0045] The present invention achieves the effect of steps 3, 4, 5, 6, 7 and 8 by using a square wave with stronger energy for excitation when the gyro jitter is weak, and multiplying the square wave by a sine wave can make the energy change of the ceramic piece more moderate. The added odd and even cycle duty cycle change can effectively enrich the spectrum of the jitter noise, and the noise near the jitter frequency can be effectively enriched by adjusting the amplitude and duty cycle of the square wave part, while minimizing the odd and even frequency multiplication of the jitter frequency.

[0046] The effect achieved by the present invention through the features of steps nine and ten is to enrich the noise spectrum near the jitter frequency of the sine wave drive part. At the same time, through the multi-layer waveform design, the noise spectrum can be further optimized to reduce the negative effects of odd and even frequency multiplication and low frequency. The driving waveform finally obtained has a good noise injection effect and stabilizes the overall jitter amplitude of the jitter wheel.

[0047] The present invention completes the design of a polymorphic combined dither through steps one to ten. The noise spectrum is relatively rich, and the high-frequency and low-frequency response amplitudes of the gyroscope non-resonance point are relatively small, and the odd-order and even-order frequency multiplication response amplitudes are relatively small, which can inject appropriate noise into the laser gyroscope when it works at the resonance point. At the same time, the high-frequency noise response amplitude between the odd-order and even-order frequency multiplication is relatively small, which can ensure the noise injection effect.

[0048] The initial sine and square wave signals in the present invention can be directly controlled and generated by a digital analog circuit converter, which is simple and convenient. For biased signals, it can be realized by adding a reference voltage and using an analog circuit. If a direct digital frequency synthesis method is used, it will be simpler and easier.

[0049] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A multi-state combined laser gyroscope jitter noise injection method, characterized in that include: Setting a first sine wave, and multiplying the first sine wave with a preset first square wave to obtain a first waveform; Multiplying the first waveform by a preset second sine wave to obtain a first initial state waveform; Setting a second square wave, and multiplying the second square wave by a preset third square wave to obtain a second waveform; multiplying the second waveform by a preset seventh square wave to obtain a third waveform; Setting a fourth square wave, and multiplying the fourth square wave with a preset fifth square wave to obtain a fourth waveform; Multiplying the fourth waveform by a preset sixth square wave to obtain a fifth waveform; Summing the third waveform and the fifth waveform to obtain a square wave driving waveform; Multiplying the square wave drive waveform by a preset third sine wave to obtain a second initial state waveform; Multiplying the first initial state waveform by a preset value to obtain a sixth waveform, and performing an addition operation on the sixth waveform and the first initial state waveform to obtain a third initial state waveform; The third initial state waveform is subtracted from the second initial state waveform to obtain a multi-state driving waveform, the multi-state driving waveform is multiplied by a preset fourth sine wave to obtain a final waveform, and the final waveform is injected into the laser gyroscope.

2. The jitter noise injection method for a multi-state combined laser gyroscope according to claim 1, characterized in that: The preset second sine wave is a sine wave with equal amplitude and offset; wherein the frequency of the preset second sine wave is preset to Y Hz, and the amplitude and offset of the preset second sine wave are preset to a V.

3. The jitter noise injection method for a multi-state combined laser gyroscope according to claim 2, characterized in that: The frequency of the first sine wave is preset to X Hz, and the amplitude of the first sine wave is 3a V; The preset first square wave is a square wave with equal amplitude and offset; the frequency of the preset first square wave is equal to the frequency of the preset second sine wave, and the amplitude and offset of the preset first square wave are both 0.5aV; The first waveform is a waveform of alternating sine waves with the same amplitude as the first sine wave and a 0 level.

4. The jitter noise injection method for a multi-state combined laser gyroscope according to claim 3, characterized in that: The second square wave is a square wave with the same phase as the preset first square wave, with a frequency of X Hz and an amplitude of 3aV; The preset third wave is a square wave with equal amplitude and offset and a phase of 180 degrees; wherein the frequency of the preset third wave is equal to the frequency of the preset second sine wave, and the amplitude and offset of the preset third wave are both preset to -0.5aV.

5. The jitter noise injection method for a multi-state combined laser gyroscope according to claim 3, characterized in that: The preset seventh square wave is a square wave with equal amplitude and offset and a phase of 180 degrees; wherein the frequency of the preset seventh square wave is half the frequency of the preset second sine wave, and the amplitude and offset of the preset third square wave are both preset to 0.4a V.

6. The jitter noise injection method for a multi-state combined laser gyroscope according to claim 3, characterized in that: The fourth square wave is a square wave with the same phase as the preset first square wave, X Hz, and an amplitude of 3aV; The preset fifth square wave is a square wave with equal amplitude and offset and a phase of 180 degrees; wherein the frequency of the preset fifth square wave is equal to the frequency of the preset second sine wave, and the amplitude and offset of the preset fifth square wave are both preset to -0.5aV.

7. The jitter noise injection method for a multi-state combined laser gyroscope according to claim 2, characterized in that: The preset sixth square wave is a square wave with equal amplitude and offset and a phase of 0 degree; wherein the frequency of the preset sixth square wave is half the frequency of the preset second sine wave, and the amplitude and offset of the preset sixth square wave are both preset to 0.4a V.

8. The jitter noise injection method for a multi-state combined laser gyroscope according to claim 2, characterized in that: The frequency of the preset third sine wave is equal to the frequency of the preset second sine wave, the amplitude of the preset third sine wave is 0.3 times the amplitude of the preset second sine wave, and the bias of the preset third sine wave is 0.6 times the bias of the preset second sine wave.

9. The jitter noise injection method for a multi-state combined laser gyroscope according to claim 1, characterized in that: The preset value is a random number between 0.5 and 1.

10. The jitter noise injection method for a multi-state combined laser gyroscope according to claim 2, characterized in that: The preset fourth sine wave is a sine wave with Y / 2Hz, amplitude 0.2aV, and offset aV; The frequency of the preset fourth sine wave is half the frequency of the preset second sine wave, the amplitude of the preset fourth sine wave is 0.2 times the amplitude of the preset second sine wave, and the bias of the preset fourth sine wave is equal to the bias of the preset second sine wave.

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