An online self-positioning method, device and medium for fiber-optic gyroscope failure

Abstract

The application provides an optical fiber gyroscope fault online self-positioning method, device and medium, the method comprises the following steps: sending a mode control signal to the sensitive ring module, so that the optical fiber gyroscope is in different working modes; acquiring the real-time detection signal of the optical fiber gyroscope under each working mode; comparing the real-time detection signal under each working mode with the pre-configured signal threshold range under the working mode to determine the signal comparison result under each working mode; when it is determined that the signal comparison result of the target working mode is abnormal, positioning the fault position of the optical fiber gyroscope according to the abnormal signal comparison result and the module turned on in the optical fiber gyroscope under the target working mode, thereby realizing the fault self-positioning of the optical source module, the sensitive ring module, the photoelectric detection module, the signal processing module, the optical power monitoring module and the like, and upgrading the judgment of whether there is a fault to fault self-positioning.

Description

Technical Field

[0001] This application relates to the field of fiber optic gyroscopes, and more specifically, to a method, apparatus, and medium for online self-location of fiber optic gyroscope faults. Background Technology

[0002] Fiber optic gyroscopes are angular velocity sensors based on SAGNAC interferometers. Due to their advantages such as high accuracy, large dynamic range, all-solid-state operation, low cost, and mass production capability, they have achieved significant results and widespread application in weaponry, energy extraction, and autonomous driving. As angular velocity sensors, fiber optic gyroscopes provide continuous sensing data for data processing and calculation in the next-level inertial system, thus determining the system's measurement accuracy. Therefore, when an internal fault occurs in a fiber optic gyroscope, timely detection and fault location are crucial for system startup, periodic calibration, and fault diagnosis.

[0003] Currently, the common fault detection method for fiber optic gyroscopes is to measure the power of the light source or the overall loop gain. When the measurement result is abnormal, it is judged as a fault in the fiber optic gyroscope. This method can only make a qualitative judgment. The specific fault location generally requires disassembling the fiber optic gyroscope from the system and breaking the internal structure of the fiber optic gyroscope for analysis and further positioning. Since the internal structure of the fiber optic gyroscope is a fully closed structure connected by optical fibers, fault location requires breaking the optical fibers and checking each component one by one. However, there are several unavoidable defects in using this traditional method: (1) Breaking the optical fiber destroys the integrity of the optical path structure of the fiber optic gyroscope, and some faults often cannot be reproduced. For example, when the fiber optic fusion point breaks inside the fiber optic gyroscope, causing abnormal loop gain, if the fiber optic break is located at the fusion point of the broken fiber optic, it is impossible to locate the fault by measuring a single optical component. (2) This method cannot achieve the identification and location of all faults and is not applicable to situations where multiple faults occur simultaneously. When a fault source is found after disassembling into separate components, it is often necessary to reassemble the components into a complete optical system to further determine whether other faults exist. (3) This method is extremely inefficient, requires a lot of manpower and resources, and is not conducive to product repair and batch testing.

[0004] Therefore, there is an urgent need for an online fault location method for fiber optic gyroscopes. This method could enable basic fault location on a faulty fiber optic gyroscope. Fault diagnosis and repair of the fiber optic gyroscope can be achieved simply by replacing or repairing the corresponding module, which can greatly improve the return-to-work efficiency of fiber optic gyroscope products and increase batch production rates. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide an online self-location method, device and medium for fiber optic gyroscope faults. By controlling the on or off of some modules in the fiber optic gyroscope, the fault autonomous location of the light source module, sensing ring module, photoelectric detection module, signal processing module, optical power monitoring module and other components of the fiber optic gyroscope can be achieved. This upgrades the fault detection from simply identifying the presence of a fault to autonomous fault location, thereby improving the return rate and batch production rate of fiber optic products.

[0006] This application provides an online self-localization method for fiber optic gyroscope faults. The fiber optic gyroscope includes a light source module, a sensitive loop module, an integrated digital processing and driving circuit module, a photoelectric detection module, a signal processing module, and an optical power monitoring module. The method includes:

[0007] A mode control signal is sent to the sensitive ring module to put the fiber optic gyroscope into different operating modes; wherein, in different operating modes, different modules in the fiber optic gyroscope are turned on.

[0008] Acquire the real-time detection signal of the fiber optic gyroscope in each working mode; wherein the real-time detection signal includes at least one of the following: the signal processing path signal sent by the signal processing module to the integrated digital processing and driving circuit module, and the optical power monitoring path signal sent by the optical power monitoring module to the integrated digital processing and driving circuit module;

[0009] The real-time detection signal in each working mode is compared with the pre-configured signal threshold range for that working mode to determine the signal comparison result for each working mode.

[0010] When the signal comparison result of the target working mode is determined to be abnormal, the fault location of the fiber optic gyroscope is located based on the abnormal signal comparison result and the module that is conducting in the fiber optic gyroscope in the target working mode.

[0011] In some embodiments, in the online self-localization method for fiber optic gyroscope faults, before sending a mode control signal to the sensitive loop module to put the fiber optic gyroscope into different operating modes, the method includes:

[0012] Acquire the reference detection signal of the fiber optic gyroscope in each working mode during normal operation; wherein, the reference detection signal includes a first reference signal sent by the signal processing module to the integrated digital processing and driving circuit module, and a second reference signal sent by the optical power monitoring module to the integrated digital processing and driving circuit module;

[0013] Based on the first reference signal and the second reference signal, a signal threshold range is configured in the working mode; wherein the signal threshold range includes the threshold range of the first reference signal and the threshold range of the second reference signal.

[0014] In some embodiments, in the online self-localization method for fiber optic gyroscope faults, sending a mode control signal to the sensitive loop module to put the fiber optic gyroscope into different operating modes includes:

[0015] A mode control signal with a phase difference of ±π from the optical signal is applied to the integrated optical modulator in the sensitive ring module to put the sensitive ring module in the off state.

[0016] A mode control signal with a phase difference of 0 from the optical signal is applied to the integrated optical modulator in the sensitive ring module to put the sensitive ring module into the conducting state; at the same time, a switch control signal is sent to the signal processing module to set the analog switch of the signal processing module to the fully off state.

[0017] In some embodiments, the online self-localization method for fiber optic gyroscope faults includes acquiring real-time detection signals of the fiber optic gyroscope under each operating mode, including:

[0018] Acquire the real-time detection signal of the fiber optic gyroscope when the sensitive loop module is in the off state;

[0019] The real-time detection signal of the fiber optic gyroscope is obtained when the sensitive loop module is in the on state.

[0020] In some embodiments, the online self-localization method for fiber optic gyroscope faults compares the real-time detection signal in each operating mode with a pre-configured signal threshold range for that operating mode to determine the signal comparison result for each operating mode, including:

[0021] The signal processing path signal in at least some operating modes is compared with the threshold range of the first reference signal in the pre-configured operating mode. If the signal processing path signal exceeds the threshold range of the first reference signal in the operating mode, it indicates that the signal processing path comparison result is abnormal.

[0022] The optical power monitoring path signal in at least some operating modes is compared with the threshold range of a pre-configured second reference signal in that operating mode. If the optical power monitoring path signal exceeds the threshold range of the second reference signal in that operating mode, it indicates that the optical power monitoring path comparison result is abnormal.

[0023] In some embodiments, in the online self-localization method for fiber optic gyroscope faults, if the sensitive loop module is in a turned-off state and the signal comparison result of the target operating mode is abnormal, the fault location of the fiber optic gyroscope is located based on the abnormal signal comparison result and the module that is turned on in the fiber optic gyroscope under the target operating mode, including:

[0024] The comparison results of both the signal processing path and the optical power monitoring path were abnormal, indicating that the fault location of the fiber optic gyroscope was either the light source module or the photoelectric detection module.

[0025] The signal processing path comparison results were abnormal, while the optical power monitoring path comparison results were normal, indicating that the fault location of the fiber optic gyroscope was the signal processing module.

[0026] The signal processing path comparison results were normal, but the optical power monitoring path comparison results were abnormal, indicating that the fault location of the fiber optic gyroscope was the optical power monitoring module.

[0027] In some embodiments, in the online self-localization method for fiber optic gyroscope faults, if both the signal processing path comparison result and the optical power monitoring path comparison result are abnormal, the fault location of the fiber optic gyroscope is determined to be the light source or the photoelectric detection module in the light source module, including:

[0028] If both the signal processing path signal and the optical power monitoring path signal are 0, it is determined that the fiber optic gyroscope light source is damaged and has no light, or the detector is completely damaged.

[0029] Both the signal processing path signal and the optical power monitoring path signal are not 0. A first proportion is determined to be the threshold range of the signal processing path signal exceeding the first reference signal, and a second proportion is determined to be the threshold range of the optical power monitoring path signal exceeding the second reference signal.

[0030] Determine whether the first ratio and the second ratio are consistent;

[0031] If so, then it is determined that the light source output power is abnormal or the detector conversion coefficient is abnormal.

[0032] In some embodiments, in the online self-localization method for fiber optic gyroscope faults, if the sensitive loop module is in the on state and the analog switch of the signal processing module is in the fully off state, and the signal comparison result of the target operating mode is determined to be abnormal, the fault location of the fiber optic gyroscope is located based on the abnormal signal comparison result and the on-state module in the fiber optic gyroscope under the target operating mode, including:

[0033] If the optical power monitoring path signal is lower than the threshold of the second reference signal and the difference between them is greater than the preset difference threshold, it is determined that there is a breakpoint in the sensitive loop module.

[0034] If the optical power monitoring path signal is lower than the threshold of the second reference signal and the difference between them is not greater than the preset difference threshold, it is determined that the loss of the sensitive ring module has increased.

[0035] In some embodiments, an online self-location device for fiber optic gyroscope faults is also provided. The fiber optic gyroscope includes a light source module, a sensitive ring module, an integrated digital processing and driving circuit module, a photoelectric detection module, a signal processing module, and an optical power monitoring module. The device includes:

[0036] The transmitting module is used to send mode control signals to the sensitive ring module so that the fiber optic gyroscope is in different operating modes; wherein, in different operating modes, different modules in the fiber optic gyroscope are turned on.

[0037] The acquisition module is used to acquire the real-time detection signal of the fiber optic gyroscope in each working mode; wherein, the real-time detection signal includes the signal processing path signal sent by the signal processing module to the integrated digital processing and driving circuit module, and the optical power monitoring path signal sent by the optical power monitoring module to the integrated digital processing and driving circuit module;

[0038] The comparison module is used to compare the real-time detection signal in each working mode with the pre-configured signal threshold range for that working mode, and determine the signal comparison result for each working mode.

[0039] The positioning module is used to locate the fault location of the fiber optic gyroscope when the signal comparison result of the target working mode is abnormal, based on the abnormal signal comparison result and the module that is conducting in the fiber optic gyroscope in the target working mode.

[0040] In some embodiments, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, performs the steps of the online self-localization method for fiber optic gyroscope faults.

[0041] This application provides an online self-localization method for fiber optic gyroscope faults. The fiber optic gyroscope includes a light source module, a sensitive ring module, an integrated digital processing and driving circuit module, a photoelectric detection module, a signal processing module, and an optical power monitoring module. A mode control signal is sent to the sensitive ring module to put the fiber optic gyroscope into different operating modes. In each operating mode, different modules in the fiber optic gyroscope are activated. Real-time detection signals of the fiber optic gyroscope are acquired for each operating mode. These real-time detection signals include signal processing path signals sent from the signal processing module to the integrated digital processing and driving circuit module, and optical power monitoring path signals sent from the optical power monitoring module to the integrated digital processing and driving circuit module. The real-time detection signals for each operating mode are compared with a pre-configured signal threshold range for that operating mode to determine the fault level for each operating mode. The signal comparison results under the formula are used to determine the fault location of the fiber optic gyroscope. When the signal comparison results of the target working mode are found to be abnormal, the fault location of the fiber optic gyroscope is located based on the abnormal signal comparison results and the conductive modules in the fiber optic gyroscope under the target working mode. In this way, by controlling the on or off of some modules in the fiber optic gyroscope, the fault location of the fiber optic gyroscope light source module, sensitive ring module, photoelectric detection module, signal processing module, optical power monitoring module, etc. can be achieved. The fault detection is upgraded from judging whether there is a fault to the fault location, thereby improving the return rate and batch production rate of fiber optic products. At the same time, the fault detection of the fiber optic gyroscope optical path module and circuit module can be achieved without changing the mature optical path and circuit structure of the fiber optic gyroscope. The fault location of each module of the fiber optic gyroscope can be achieved without disassembling or separating the fiber optic gyroscope. It matches the modular design and production ideas and processes of fiber optic gyroscopes and significantly improves the efficiency of fault diagnosis and location. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 A schematic diagram of the fiber optic gyroscope structure described in an embodiment of this application is shown;

[0044] Figure 2 A flowchart of the online self-localization method for fiber optic gyroscope faults according to an embodiment of this application is shown;

[0045] Figure 3 A flowchart illustrating a method for sending a mode control signal to the sensitive loop module to cause the fiber optic gyroscope to operate in different modes, according to an embodiment of this application, is shown.

[0046] Figure 4 The diagram showing the relationship between the raised cosine interference function described in this application embodiment and the output optical signal of the sensitive loop module is illustrated.

[0047] Figure 5 The flowchart of the method for locating the fault location of the fiber optic gyroscope if the sensitive loop module is in the off state, as described in an embodiment of this application, is shown.

[0048] Figure 6 A schematic diagram of the online self-positioning device for fiber optic gyroscope faults according to an embodiment of this application is shown. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0050] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0051] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0052] Fiber optic gyroscopes are angular velocity sensors based on SAGNAC interferometers. Due to their advantages such as high accuracy, large dynamic range, all-solid-state operation, low cost, and mass production capability, they have achieved significant results and widespread application in weaponry, energy extraction, and autonomous driving. As angular velocity sensors, fiber optic gyroscopes provide continuous sensing data for data processing and calculation in the next-level inertial system, thus determining the system's measurement accuracy. Therefore, when an internal fault occurs in a fiber optic gyroscope, timely detection and fault location are crucial for system startup, periodic calibration, and fault diagnosis.

[0053] Currently, the common fault detection method for fiber optic gyroscopes is to measure the power of the light source or the overall loop gain. When the measurement result is abnormal, it is judged as a fault in the fiber optic gyroscope. This method can only make a qualitative judgment. The specific fault location generally requires disassembling the fiber optic gyroscope from the system and breaking the internal structure of the fiber optic gyroscope for analysis and further positioning. Since the internal structure of the fiber optic gyroscope is a fully closed structure connected by optical fibers, fault location requires breaking the optical fibers and checking each component one by one. However, there are several unavoidable defects in using this traditional method: (1) Breaking the optical fiber destroys the integrity of the optical path structure of the fiber optic gyroscope, and some faults often cannot be reproduced. For example, when the fiber optic fusion point breaks inside the fiber optic gyroscope, causing abnormal loop gain, if the fiber optic break is located at the fusion point of the broken fiber optic, it is impossible to locate the fault by measuring a single optical component. (2) This method cannot achieve the identification and location of all faults and is not applicable to situations where multiple faults occur simultaneously. When a fault source is found after disassembling into separate components, it is often necessary to reassemble the components into a complete optical system to further determine whether other faults exist. (3) This method is extremely inefficient, requires a lot of manpower and resources, and is not conducive to product repair and batch testing.

[0054] Based on this, this application provides an online self-localization method for fiber optic gyroscope faults. The fiber optic gyroscope includes a light source module, a sensitive loop module, an integrated digital processing and driving circuit module, a photoelectric detection module, a signal processing module, and an optical power monitoring module. A mode control signal is sent to the sensitive loop module to put the fiber optic gyroscope into different operating modes. In each operating mode, different modules in the fiber optic gyroscope are activated. Real-time detection signals of the fiber optic gyroscope are acquired for each operating mode. These real-time detection signals include signal processing path signals sent from the signal processing module to the integrated digital processing and driving circuit module, and optical power monitoring path signals sent from the optical power monitoring module to the integrated digital processing and driving circuit module. The real-time detection signals for each operating mode are compared with a pre-configured signal threshold range for that operating mode to determine the fault level for each mode. The signal comparison results under the target operating mode are analyzed. When the signal comparison results under the target operating mode are found to be abnormal, the fault location of the fiber optic gyroscope is located based on the abnormal signal comparison results and the conductive modules in the fiber optic gyroscope under the target operating mode. In this way, by controlling the on or off of some modules in the fiber optic gyroscope, the fault location of the fiber optic gyroscope light source module, sensitive ring module, photoelectric detection module, signal processing module, optical power monitoring module, etc. can be achieved autonomously. The fault detection is upgraded from judging whether there is a fault to autonomous fault location, thereby improving the return rate and batch production rate of fiber optic products. At the same time, the fault detection of the fiber optic gyroscope optical path module and circuit module can be achieved without changing the mature optical path and circuit structure of the fiber optic gyroscope. The fault location of each module of the fiber optic gyroscope can be achieved without disassembling or separating the fiber optic gyroscope. This matches the modular design and production ideas and processes of fiber optic gyroscopes, and significantly improves the efficiency of fault diagnosis and location.

[0055] Please refer to Figure 1 Currently, fiber optic gyroscopes primarily employ a modular design approach and manufacturing process. A fiber optic gyroscope comprises an optical path component and a circuit component; for example... Figure 1As shown, the optical path mainly consists of three modules: a light source module 101, a sensing ring module 102, and a photodetector module 103. The light source module 101 includes a broadband ASE light source (low-precision generally uses an SLD light source), a 50 / 50 2×2 light source coupler, and a 1×2 polarization-maintaining coupler for intensity noise suppression. The light emitted from the light source 1 is split into two beams, 2 and 3, by the light source coupler. 2 is the light incident on the sensing ring module 102, and 3 is the light from the original coupler empty end. The light incident on the sensing ring module 102 passes through an integrated optical modulator and a fiber optic ring before returning to the light source coupler, appearing as 4; 4 is called the sensing ring output signal light. The light 3 from the coupler empty end is generally referred to as the reference light for intensity noise suppression. The two beams 3 and 4 are combined by vertical polarization intensities through the 1×2 polarization-maintaining coupler, resulting in a combined beam 5, which is then incident on the detector for photodetection and conversion. The main sources of failure in the optical path include: a) significant attenuation of light source power, b) damage to the light source resulting in no light, c) increased attenuation inside the sensitive ring module 102, d) fiber optic breakage inside the sensitive ring module 102, e) abnormal detector conversion coefficient, f) detector damage preventing photoelectric conversion, etc.

[0056] The circuit section mainly includes: a signal processing module 104, an optical power monitoring module 105, and an integrated digital processing and driving circuit module 106. Since the integrated digital chip has a relatively low failure rate, the main considerations are faults in the two analog circuit sections: the signal processing module 104 and the optical power monitoring module 105. The electrical signal output from the photodetector enters both the signal processing module 104 and the optical power monitoring module 105. In the signal processing module 104, the signal passes through analog switches, filtering, amplification, and analog-to-digital conversion (AD) stages before entering the integrated digital chip, primarily used for demodulating the rotational speed signal and closed-loop control. In the optical power monitoring module 105, the signal passes through another AD stage before entering the integrated digital chip, traditionally used for monitoring overall optical power and loop gain to determine the presence of faults. The main sources of faults in the circuit modules include: a) an open circuit in the signal processing module 104, and b) an open circuit in the optical power monitoring module 105.

[0057] Here, the integrated digital processing and driving circuit module is used to generate a modulation signal for the integrated optical modulator in the sensitive ring module. The magnitude of the optical power returned by the sensitive ring module can be changed by changing the modulation phase difference applied to the integrated optical modulator.

[0058] by Figure 1 Based on the optical and circuit module composition and principle shown, the fiber optic gyroscope can be used to identify, locate and separate faults in the light source module, sensitive ring module, photoelectric detection module, optical power monitoring module and signal processing module.

[0059] For details, please refer to Figure 2This application provides an online self-localization method for fiber optic gyroscope faults. The fiber optic gyroscope includes a light source module, a sensitive ring module, an integrated digital processing and driving circuit module, a photoelectric detection module, a signal processing module, and an optical power monitoring module. The method includes the following steps S201-S204:

[0060] S201. Send a mode control signal to the sensitive ring module to put the fiber optic gyroscope into different working modes; wherein, in different working modes, different modules in the fiber optic gyroscope are turned on.

[0061] S202. Acquire the real-time detection signal of the fiber optic gyroscope in each working mode; the real-time detection signal includes at least one of the following: the signal processing path signal sent by the signal processing module to the integrated digital processing and driving circuit module, and the optical power monitoring path signal sent by the optical power monitoring module to the integrated digital processing and driving circuit module.

[0062] S203. Compare the real-time detection signal in each working mode with the pre-configured signal threshold range for that working mode, and determine the signal comparison result for each working mode.

[0063] S204. When the signal comparison result of the target working mode is determined to be abnormal, the fault location of the fiber optic gyroscope is located based on the abnormal signal comparison result and the module that is turned on in the fiber optic gyroscope under the target working mode.

[0064] The online self-location method for fiber optic gyroscope faults described in this application achieves autonomous fault location for components such as the light source module, sensing ring module, photoelectric detection module, signal processing module, and optical power monitoring module by controlling the on / off state of certain modules within the fiber optic gyroscope. This upgrades fault detection from simply identifying the presence of a fault to autonomous fault location, thereby improving the return rate and batch production rate of fiber optic products. Furthermore, it enables fault detection of the fiber optic gyroscope's optical path and circuit modules without altering the mature optical and circuit structures. Fault location for each module of the fiber optic gyroscope can be achieved without disassembling or separating the gyroscope. This method aligns with the modular design and production process of fiber optic gyroscopes, significantly improving fault diagnosis and location efficiency.

[0065] The aforementioned online self-location method for fiber optic gyroscope faults can be applied to the integrated digital processing and drive circuit module, or other controllers, host computers, etc.

[0066] In step S201, a mode control signal is sent to the sensitive ring module to put the fiber optic gyroscope into different operating modes; wherein, in different operating modes, different modules in the fiber optic gyroscope are turned on.

[0067] The sending of the mode control signal to the sensitive loop module specifically refers to a modulation signal generated by the integrated digital processing and driving circuit module. The integrated digital processing and driving circuit module includes an FPGA module, used to generate the modulation signal under program control.

[0068] Before performing step S201, in the online self-localization method for fiber optic gyroscope faults, before sending a mode control signal to the sensitive loop module to put the fiber optic gyroscope into different operating modes, the method includes:

[0069] Acquire the reference detection signal of the fiber optic gyroscope in each working mode during normal operation; wherein, the reference detection signal includes a first reference signal sent by the signal processing module to the integrated digital processing and driving circuit module, and a second reference signal sent by the optical power monitoring module to the integrated digital processing and driving circuit module;

[0070] Based on the first reference signal and the second reference signal, a signal threshold range is configured in the working mode; wherein the signal threshold range includes the threshold range of the first reference signal and the threshold range of the second reference signal.

[0071] Specifically, the operating modes in this application embodiment are as follows: a) turning off the sensitive ring light signal while simultaneously turning on the analog switch of the fully conductive signal processing module; b) turning on the sensitive ring light signal while simultaneously turning off the analog switch of the signal processing module. These operating modes can be achieved by the modulation signal applied to the integrated optical modulator by the integrated digital circuit and the control signal applied to the analog switch. The fiber optic gyroscope can collect two detection signals: a) the signal value of the optical power after photoelectric conversion, which passes through the signal processing module and reaches the integrated digital processing and driving circuit module; b) the signal value of the optical power after photoelectric conversion, which passes through the optical power monitoring module and reaches the integrated digital processing and driving circuit module.

[0072] Therefore, when the fiber optic gyroscope is in normal application and without faults, under the two operating modes described above, the two collectable detection signals are measured separately, and each measurement result is used as a reference value for fault detection. To account for factors such as natural aging of the device and environmental changes, upper and lower thresholds can be set based on the reference values; values ​​within the threshold range are considered fault-free.

[0073] Please refer to Figure 3 In step S201, sending a mode control signal to the sensitive ring module to put the fiber optic gyroscope into different working modes includes the following steps S301-S302.

[0074] S301. Apply a mode control signal with a phase difference of ±π from the optical signal to the integrated optical modulator in the sensitive ring module so that the sensitive ring module is in the off state.

[0075] S302. Apply a mode control signal with a phase difference of 0 with the optical signal to the integrated optical modulator in the sensitive ring module to put the sensitive ring module in the conducting state; at the same time, send a switch control signal to the signal processing module to set the analog switch of the signal processing module to the fully off state.

[0076] In step S301, the analog switch of the signal processing module is set to the fully on state.

[0077] In other words, in some embodiments, while sending a mode control signal to the sensitive ring module, a switch control signal is also sent to the analog switch of the signal processing module.

[0078] A modulation signal with a phase difference of ±π is applied to the integrated optical modulator of the sensitive ring to shut off the optical signal in part of the sensitive ring. At this time, the light entering the photodetector is only the light emitted by the light source, which passes through a 50 / 50 2×2 light source coupler to the air head, and then through a 1×2 coupler. That is, there is no light 2 or 4 in the light source module, only light 3. At this time, the analog switch of the signal processing channel is set to the fully conductive state, and the data of the optical power monitoring path and the signal processing path are collected as real-time detection signals. Based on these two data points, which are compared with the preset normal threshold range, fault location can be performed.

[0079] A modulation signal with a phase difference of 0 (i.e., no modulation signal) is applied to the integrated optical modulator in the sensitive loop to enable the optical signal in the sensitive loop section. At this time, the light entering the photodetector is the sum of two beams: the light emitted from the light source that passes through a 50 / 50 2×2 light source coupler to the air head and then through a 1×2 coupler; and the light returning from the sensitive loop that passes through a 50 / 50 2×2 light source coupler and then through a 1×2 coupler. Both beams 2 and 3 in the light source module are present. At this time, the analog switch of the signal processing channel is set to the fully off state, and optical power monitoring channel data is collected. Comparing this data with the preset normal threshold range in this state allows for fault location.

[0080] A fiber optic gyroscope is a sensor based on a SAGNAC interferometer. Its main sensitive component is a sensitive ring module composed of an integrated optical modulator and a fiber optic loop. The magnitude of the output light from the sensitive ring can be controlled by changing the modulation phase difference applied to the integrated optical modulator. In analysis and fault location operations, the fiber optic gyroscope is considered to be in a stationary state, meaning the phase difference generated by rotation is much smaller than the phase difference manually applied to the integrated optical modulator. Therefore, the output light from the sensitive ring can be considered to be mainly controlled by the applied modulation phase difference. The relationship between the output light intensity I of the sensitive ring and the applied phase difference Δφ can be expressed as:

[0081] I = I0[1 + cos(Δφ)]

[0082] Where I0 is the output light intensity of the sensing ring when no modulation signal is applied to the integrated optical modulator; I is the output light intensity of the sensing ring; and Δφ is the applied phase difference.

[0083] Please refer to Figure 4 In the raised cosine interference function, applying a phase modulation signal with an amplitude of ±π can achieve a zero output light from the sensitive ring. The spike pulses generated during the transition between ±π can be avoided by controlling the data acquisition position within the integrated digital chip, thus not affecting the measurement results. The applied modulation phase difference with an amplitude of ±π can be generated by the integrated digital processing circuit through program control and output by the drive circuit to the integrated phase modulator. Similarly, when the modulation signal is turned off, the applied modulation phase difference is zero, at which point the output light intensity of the sensitive ring exhibits a maximum value. Therefore, by controlling the phase modulation signal, the output light of the sensitive ring can be turned off and on.

[0084] In step S202, the real-time detection signal of the fiber optic gyroscope in each working mode is acquired; wherein the real-time detection signal includes at least one of the following: a signal processing path signal sent from the signal processing module to the integrated digital processing and driving circuit module, and an optical power monitoring path signal sent from the optical power monitoring module to the integrated digital processing and driving circuit module.

[0085] Specifically, the real-time detection signals of the fiber optic gyroscope are acquired for each operating mode, including:

[0086] Acquire the real-time detection signal of the fiber optic gyroscope when the sensitive loop module is in the off state;

[0087] The real-time detection signal of the fiber optic gyroscope is obtained when the sensitive loop module is in the on state.

[0088] Specifically, when a modulation signal with a phase difference of ±π is applied to the integrated optical modulator of the sensitive ring, the optical signal of the sensitive ring is turned off. At this time, data from the optical power monitoring path and the signal processing path are simultaneously acquired as real-time detection signals.

[0089] A modulation signal with a phase difference of 0 (i.e., no modulation signal) is applied to the integrated optical modulator in the sensitive ring to enable the conduction of optical signals in the sensitive ring section. At this time, optical power monitoring path data is collected as a real-time detection signal.

[0090] In step S203, the real-time detection signal in each working mode is compared with the pre-configured signal threshold range for that working mode to determine the signal comparison result for each working mode.

[0091] Specifically, the real-time detection signal in each working mode is compared with the pre-configured signal threshold range for that working mode to determine the signal comparison result for each working mode, including:

[0092] The signal processing path signal in at least some operating modes is compared with the threshold range of the first reference signal in the pre-configured operating mode. If the signal processing path signal exceeds the threshold range of the first reference signal in the operating mode, it indicates that the signal processing path comparison result is abnormal.

[0093] The optical power monitoring path signal in at least some operating modes is compared with the threshold range of a pre-configured second reference signal in that operating mode. If the optical power monitoring path signal exceeds the threshold range of the second reference signal in that operating mode, it indicates that the optical power monitoring path comparison result is abnormal.

[0094] In this embodiment, when a modulation signal with a phase difference of ±π is applied to the integrated optical modulator of the sensitive ring, the optical signal of the sensitive ring is turned off. At this time, the data of the optical power monitoring path and the signal processing path are collected simultaneously as real-time detection signals. The signal of the signal processing path needs to be compared with the threshold range of the first reference signal in the pre-configured working mode, and the signal of the optical power monitoring path needs to be compared with the threshold range of the second reference signal in the pre-configured working mode.

[0095] When applying a modulation signal with a phase difference of 0 (i.e., no modulation signal) to the integrated optical modulator of the sensitive ring to enable the conduction of the optical signal in the sensitive ring section, it is only necessary to compare the optical power monitoring path signal with the threshold range of the second reference signal pre-configured in this working mode.

[0096] In step S204, when it is determined that the signal comparison result of the target working mode is abnormal, the fault location of the fiber optic gyroscope is located based on the abnormal signal comparison result and the module that is turned on in the fiber optic gyroscope under the target working mode.

[0097] For details, please refer to Figure 5 If the sensitive loop module is in the off state and the signal comparison result of the target operating mode is abnormal, the fault location of the fiber optic gyroscope is located based on the abnormal signal comparison result and the module that is conducting in the fiber optic gyroscope in the target operating mode, including the following steps S501-S503:

[0098] S501, the comparison results of the signal processing path and the optical power monitoring path are both abnormal, indicating that the fault location of the fiber optic gyroscope is the light source module or the photoelectric detection module.

[0099] S502. The signal processing path comparison result is abnormal, while the optical power monitoring path comparison result is normal. The fault location of the fiber optic gyroscope is determined to be the signal processing module.

[0100] S503: The signal processing path comparison result is normal, but the optical power monitoring path comparison result is abnormal. The fault location of the fiber optic gyroscope is determined to be the optical power monitoring module.

[0101] In this embodiment, the signal processing path signal and the optical power monitoring path signal can be further processed to further refine the fault types of the fiber optic gyroscope.

[0102] Specifically, both the signal processing path comparison results and the optical power monitoring path comparison results were abnormal, indicating that the fault location of the fiber optic gyroscope was either the light source module or the photoelectric detection module within the light source module, including:

[0103] If both the signal processing path signal and the optical power monitoring path signal are 0, it is determined that the fiber optic gyroscope light source is damaged and has no light, or the detector is completely damaged.

[0104] Both the signal processing path signal and the optical power monitoring path signal are not 0. A first proportion is determined to be the threshold range of the signal processing path signal exceeding the first reference signal, and a second proportion is determined to be the threshold range of the optical power monitoring path signal exceeding the second reference signal.

[0105] Determine whether the first ratio and the second ratio are consistent;

[0106] If so, then it is determined that the light source output power is abnormal or the detector conversion coefficient is abnormal.

[0107] In other words, when the sensitive loop module is in the off state, there are the following four situations regarding the collected signal processing path data and optical power monitoring path data:

[0108] a) If both data points are 0, it can be determined that the light source is damaged and there is no light, or the detector is completely damaged.

[0109] (b) If both data streams are below (or above) the threshold range, and the excess proportions are basically the same, it can be determined that the light source output power is abnormal or the detector conversion coefficient is abnormal. The light source and detector, as the start and end points of the optical path, are both single-point components in the circuit and cannot be further distinguished in existing mature optical paths; that is, faults in the light source and detector manifest identically in the system output.

[0110] c) If the optical power monitoring path data is normal but the signal processing path data is abnormal, it can be determined that the signal processing path is abnormal.

[0111] d) If the signal processing path data is normal but the optical power monitoring path data is abnormal, it can be determined that the optical power monitoring path is abnormal.

[0112] If the sensitive loop module is in the ON state and the analog switch of the signal processing module is in the OFF state, and the signal comparison result of the target operating mode is abnormal, the fault location of the fiber optic gyroscope is located based on the abnormal signal comparison result and the ON module in the fiber optic gyroscope under the target operating mode, including:

[0113] If the optical power monitoring path signal is lower than the threshold of the second reference signal and the difference between them is greater than the preset difference threshold, it is determined that there is a breakpoint in the sensitive loop module.

[0114] If the optical power monitoring path signal is lower than the threshold of the second reference signal and the difference between them is not greater than the preset difference threshold, it is determined that the loss of the sensitive ring module has increased.

[0115] In other words, when the sensitive loop module is in the on state, there are two possibilities for the collected signal processing path data:

[0116] a) If the optical power monitoring channel data is far below the normal threshold range or close to 0, it can be determined that there is a breakpoint in the sensitive loop module.

[0117] b) If the optical power monitoring channel data is lower than the normal threshold range, it can be determined that the loss of the sensitive ring module has increased.

[0118] Based on the same inventive concept, this application also provides an online self-location device for fiber optic gyroscope faults, corresponding to the online self-location method for fiber optic gyroscope faults. Since the principle of the device in this application is similar to the online self-location method for fiber optic gyroscope faults described above, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0119] Please refer to Figure 6 , Figure 6 This illustration shows a structural schematic diagram of the online self-localization device for fiber optic gyroscope faults according to an embodiment of this application. Specifically, the online self-localization device for fiber optic gyroscope faults includes a light source module, a sensitive ring module, an integrated digital processing and driving circuit module, a photoelectric detection module, a signal processing module, and an optical power monitoring module. The device comprises:

[0120] The transmitting module 601 is used to send a mode control signal to the sensitive ring module so that the fiber optic gyroscope is in different working modes; wherein, in different working modes, different modules in the fiber optic gyroscope are turned on.

[0121] The acquisition module 602 is used to acquire the real-time detection signal of the fiber optic gyroscope in each working mode; wherein, the real-time detection signal includes the signal processing path signal sent by the signal processing module to the integrated digital processing and driving circuit module, and the optical power monitoring path signal sent by the optical power monitoring module to the integrated digital processing and driving circuit module;

[0122] The comparison module 603 is used to compare the real-time detection signal in each working mode with the pre-configured signal threshold range in that working mode, and determine the signal comparison result in each working mode.

[0123] The positioning module 604 is used to locate the fault location of the fiber optic gyroscope based on the abnormal signal comparison result and the conductive module in the fiber optic gyroscope under the target working mode when the signal comparison result of the target working mode is determined to be abnormal.

[0124] This application provides an online self-localization device for fiber optic gyroscope faults. It sends a mode control signal to the sensitive loop module to put the fiber optic gyroscope into different operating modes. In each operating mode, different modules in the fiber optic gyroscope are activated. Real-time detection signals of the fiber optic gyroscope are acquired for each operating mode. These real-time detection signals include signal processing path signals sent from the signal processing module to the integrated digital processing and drive circuit module, and optical power monitoring path signals sent from the optical power monitoring module to the integrated digital processing and drive circuit module. The real-time detection signals for each operating mode are compared with a pre-configured signal threshold range for that operating mode to determine the signal comparison result for each operating mode. When the signal comparison result for the target operating mode is determined to be abnormal... Based on the comparison results of the abnormal signals and the conductive modules in the fiber optic gyroscope under the target operating mode, the fault location of the fiber optic gyroscope is located. In this way, by controlling the on or off of some modules in the fiber optic gyroscope, the fault location of the light source module, sensing ring module, photoelectric detection module, signal processing module, optical power monitoring module, etc., can be achieved autonomously. This upgrades the fault detection from simply identifying the presence of a fault to autonomous fault location, thereby improving the return rate and batch production rate of fiber optic products. At the same time, fault detection of the fiber optic gyroscope's optical path modules and circuit modules can be achieved without changing the mature optical path and circuit structure of the fiber optic gyroscope. Fault location of each module of the fiber optic gyroscope can be achieved without disassembling or separating the fiber optic gyroscope. This matches the modular design and production concept and process of fiber optic gyroscopes, significantly improving the efficiency of fault diagnosis and location.

[0125] In some embodiments, the fiber optic gyroscope fault online self-location device further includes:

[0126] The configuration module is used to acquire the reference detection signal of the fiber optic gyroscope in each working mode during normal operation before sending the mode control signal to the sensitive ring module to put the fiber optic gyroscope into different working modes; wherein, the reference detection signal includes a first reference signal sent by the signal processing module to the integrated digital processing and driving circuit module and a second reference signal sent by the optical power monitoring module to the integrated digital processing and driving circuit module.

[0127] Based on the first reference signal and the second reference signal, a signal threshold range is configured in the working mode; wherein the signal threshold range includes the threshold range of the first reference signal and the threshold range of the second reference signal.

[0128] In some embodiments, in the online self-location device for fiber optic gyroscope faults, the transmitting module, when sending a mode control signal to the sensitive loop module to put the fiber optic gyroscope into different operating modes, is specifically used for:

[0129] A mode control signal with a phase difference of ±π from the optical signal is applied to the integrated optical modulator in the sensitive ring module to put the sensitive ring module in the off state.

[0130] A mode control signal with a phase difference of 0 from the optical signal is applied to the integrated optical modulator in the sensitive ring module to put the sensitive ring module into the conducting state; at the same time, a switch control signal is sent to the signal processing module to set the analog switch of the signal processing module to the fully off state.

[0131] In some embodiments, in the online self-localization device for fiber optic gyroscope faults, the acquisition module, when acquiring the real-time detection signal of the fiber optic gyroscope in each operating mode, is specifically used for:

[0132] Acquire the real-time detection signal of the fiber optic gyroscope when the sensitive loop module is in the off state;

[0133] The real-time detection signal of the fiber optic gyroscope is obtained when the sensitive loop module is in the on state.

[0134] In some embodiments, in the fiber optic gyroscope fault online self-location device, the comparison module, when comparing the real-time detection signal of each operating mode with a pre-configured signal threshold range for that operating mode to determine the signal comparison result for each operating mode, is specifically used for:

[0135] The signal processing path signal in at least some operating modes is compared with the threshold range of the first reference signal in the pre-configured operating mode. If the signal processing path signal exceeds the threshold range of the first reference signal in the operating mode, it indicates that the signal processing path comparison result is abnormal.

[0136] The optical power monitoring path signal in at least some operating modes is compared with the threshold range of a pre-configured second reference signal in that operating mode. If the optical power monitoring path signal exceeds the threshold range of the second reference signal in that operating mode, it indicates that the optical power monitoring path comparison result is abnormal.

[0137] In some embodiments, in the online self-localization device for fiber optic gyroscope faults, if the sensitive loop module is in a turned-off state, when the positioning module determines that the signal comparison result of the target operating mode is abnormal, it locates the fault position of the fiber optic gyroscope based on the abnormal signal comparison result and the module that is conducting in the fiber optic gyroscope under the target operating mode. Specifically, this is used for:

[0138] The comparison results of both the signal processing path and the optical power monitoring path were abnormal, indicating that the fault location of the fiber optic gyroscope was either the light source module or the photoelectric detection module.

[0139] The signal processing path comparison results were abnormal, while the optical power monitoring path comparison results were normal, indicating that the fault location of the fiber optic gyroscope was the signal processing module.

[0140] The signal processing path comparison results were normal, but the optical power monitoring path comparison results were abnormal, indicating that the fault location of the fiber optic gyroscope was the optical power monitoring module.

[0141] In some embodiments, in the online self-localization device for fiber optic gyroscope faults, when both the signal processing path comparison result and the optical power monitoring path comparison result are abnormal, and the fault location of the fiber optic gyroscope is determined to be the light source or the photoelectric detection module in the light source module, the positioning module is specifically used for:

[0142] If both the signal processing path signal and the optical power monitoring path signal are 0, it is determined that the fiber optic gyroscope light source is damaged and has no light, or the detector is completely damaged.

[0143] Both the signal processing path signal and the optical power monitoring path signal are not 0. A first proportion is determined to be the threshold range of the signal processing path signal exceeding the first reference signal, and a second proportion is determined to be the threshold range of the optical power monitoring path signal exceeding the second reference signal.

[0144] Determine whether the first ratio and the second ratio are consistent;

[0145] If so, then it is determined that the light source output power is abnormal or the detector conversion coefficient is abnormal.

[0146] In some embodiments, in the online self-locating device for fiber optic gyroscope faults, if the sensitive loop module is in the on state and the analog switch of the signal processing module is in the fully off state, the locating module, when determining that the signal comparison result of the target operating mode is abnormal, locates the fault location of the fiber optic gyroscope based on the abnormal signal comparison result and the on-state module in the fiber optic gyroscope under the target operating mode, specifically for:

[0147] If the optical power monitoring path signal is lower than the threshold of the second reference signal and the difference between them is greater than the preset difference threshold, it is determined that there is a breakpoint in the sensitive loop module.

[0148] If the optical power monitoring path signal is lower than the threshold of the second reference signal and the difference between them is not greater than the preset difference threshold, it is determined that the loss of the sensitive ring module has increased.

[0149] Based on the same inventive concept, this application also provides a computer-readable storage medium corresponding to the online self-localization method for fiber optic gyroscope faults. Since the principle of the computer-readable storage medium in this application is similar to the online self-localization method for fiber optic gyroscope faults described above, the implementation of the computer-readable storage medium can refer to the implementation of the method, and the repeated parts will not be described again.

[0150] A computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the online self-localization method for fiber optic gyroscope faults.

[0151] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0152] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0153] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0154] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a platform server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0155] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for online self-localization of fiber optic gyroscope faults, wherein the fiber optic gyroscope comprises a light source module, a sensitive loop module, an integrated digital processing and driving circuit module, a photoelectric detection module, a signal processing module, and an optical power monitoring module, characterized in that, The method includes: Acquire the reference detection signal of the fiber optic gyroscope in each working mode during normal operation; wherein, the reference detection signal includes a first reference signal sent by the signal processing module to the integrated digital processing and driving circuit module, and a second reference signal sent by the optical power monitoring module to the integrated digital processing and driving circuit module; Based on the first reference signal and the second reference signal, a signal threshold range is configured in the working mode; wherein, the signal threshold range includes the threshold range of the first reference signal and the threshold range of the second reference signal; A mode control signal is sent to the sensitive ring module to put the fiber optic gyroscope into different operating modes; wherein, in different operating modes, different modules in the fiber optic gyroscope are turned on. Acquire the real-time detection signal of the fiber optic gyroscope in each working mode; wherein the real-time detection signal includes at least one of the following: the signal processing path signal sent by the signal processing module to the integrated digital processing and driving circuit module, and the optical power monitoring path signal sent by the optical power monitoring module to the integrated digital processing and driving circuit module; The real-time detection signal in each working mode is compared with the pre-configured signal threshold range for that working mode to determine the signal comparison result for each working mode. When the signal comparison result of the target working mode is determined to be abnormal, the fault location of the fiber optic gyroscope is located based on the abnormal signal comparison result and the module that is conducting in the fiber optic gyroscope in the target working mode.

2. The online self-localization method for fiber optic gyroscope faults according to claim 1, characterized in that, Sending a mode control signal to the sensitive loop module to put the fiber optic gyroscope into different operating modes includes: A mode control signal with a phase difference of ±π from the optical signal is applied to the integrated optical modulator in the sensitive ring module to put the sensitive ring module in the off state. A mode control signal with a phase difference of 0 from the optical signal is applied to the integrated optical modulator in the sensitive ring module to put the sensitive ring module into the conducting state; at the same time, a switch control signal is sent to the signal processing module to set the analog switch of the signal processing module to the fully off state.

3. The online self-localization method for fiber optic gyroscope faults according to claim 2, characterized in that, Acquire real-time detection signals from the fiber optic gyroscope in each operating mode, including: Acquire the real-time detection signal of the fiber optic gyroscope when the sensitive loop module is in the off state; The real-time detection signal of the fiber optic gyroscope is obtained when the sensitive loop module is in the on state.

4. The online self-localization method for fiber optic gyroscope faults according to claim 1, characterized in that, The real-time detection signal in each working mode is compared with the pre-configured signal threshold range for that working mode to determine the signal comparison result for each working mode, including: The signal processing path signal in at least some operating modes is compared with the threshold range of the first reference signal in the pre-configured operating mode. If the signal processing path signal exceeds the threshold range of the first reference signal in the operating mode, it indicates that the signal processing path comparison result is abnormal. The optical power monitoring path signal in at least some operating modes is compared with the threshold range of a pre-configured second reference signal in that operating mode. If the optical power monitoring path signal exceeds the threshold range of the second reference signal in that operating mode, it indicates that the optical power monitoring path comparison result is abnormal.

5. The online self-localization method for fiber optic gyroscope faults according to claim 4, characterized in that, If the sensitive loop module is in the off state, and the signal comparison result of the target operating mode is abnormal, the fault location of the fiber optic gyroscope is located based on the abnormal signal comparison result and the module that is conducting in the fiber optic gyroscope in the target operating mode, including: The comparison results of both the signal processing path and the optical power monitoring path were abnormal, indicating that the fault location of the fiber optic gyroscope was either the light source module or the photoelectric detection module. The signal processing path comparison results were abnormal, while the optical power monitoring path comparison results were normal, indicating that the fault location of the fiber optic gyroscope was the signal processing module. The signal processing path comparison results were normal, but the optical power monitoring path comparison results were abnormal, indicating that the fault location of the fiber optic gyroscope was the optical power monitoring module.

6. The online self-localization method for fiber optic gyroscope faults according to claim 5, characterized in that, Both the signal processing path comparison results and the optical power monitoring path comparison results are abnormal, indicating that the fault location of the fiber optic gyroscope is either the light source module or the photoelectric detection module within the light source module, including: If both the signal processing path signal and the optical power monitoring path signal are 0, it is determined that the fiber optic gyroscope light source is damaged and has no light, or the detector is completely damaged. Both the signal processing path signal and the optical power monitoring path signal are not 0. A first proportion is determined to be the threshold range of the signal processing path signal exceeding the first reference signal, and a second proportion is determined to be the threshold range of the optical power monitoring path signal exceeding the second reference signal. Determine whether the first ratio and the second ratio are consistent; If so, then it is determined that the light source output power is abnormal or the detector conversion coefficient is abnormal.

7. The online self-localization method for fiber optic gyroscope faults according to claim 4, characterized in that, If the sensitive loop module is in the ON state and the analog switch of the signal processing module is in the OFF state, and the signal comparison result of the target operating mode is abnormal, the fault location of the fiber optic gyroscope is located based on the abnormal signal comparison result and the ON module in the fiber optic gyroscope under the target operating mode, including: If the optical power monitoring path signal is lower than the threshold of the second reference signal and the difference between them is greater than the preset difference threshold, it is determined that there is a breakpoint in the sensitive loop module. If the optical power monitoring path signal is lower than the threshold of the second reference signal and the difference between them is not greater than the preset difference threshold, it is determined that the loss of the sensitive ring module has increased.

8. An online self-localization device for fiber optic gyroscope faults, wherein the fiber optic gyroscope comprises a light source module, a sensitive ring module, an integrated digital processing and driving circuit module, a photoelectric detection module, a signal processing module, and an optical power monitoring module, characterized in that, The device includes: A configuration module is used to acquire the reference detection signals of the fiber optic gyroscope in each operating mode during normal operation; wherein, the reference detection signals include a first reference signal sent by the signal processing module to the integrated digital processing and driving circuit module, and a second reference signal sent by the optical power monitoring module to the integrated digital processing and driving circuit module; based on the first reference signal and the second reference signal, a signal threshold range is configured in the operating mode; wherein, the signal threshold range includes the threshold range of the first reference signal and the threshold range of the second reference signal; The transmitting module is used to send mode control signals to the sensitive ring module so that the fiber optic gyroscope is in different operating modes; wherein, in different operating modes, different modules in the fiber optic gyroscope are turned on. The acquisition module is used to acquire the real-time detection signal of the fiber optic gyroscope in each working mode; wherein, the real-time detection signal includes the signal processing path signal sent by the signal processing module to the integrated digital processing and driving circuit module, and the optical power monitoring path signal sent by the optical power monitoring module to the integrated digital processing and driving circuit module; The comparison module is used to compare the real-time detection signal in each working mode with the pre-configured signal threshold range for that working mode, and determine the signal comparison result for each working mode. The positioning module is used to locate the fault location of the fiber optic gyroscope when the signal comparison result of the target working mode is abnormal, based on the abnormal signal comparison result and the module that is conducting in the fiber optic gyroscope in the target working mode.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the online self-localization method for fiber optic gyroscope faults as described in any one of claims 1 to 7.

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