Methods for integrating interferometric optical gyroscopes, components, systems, and calculating rotational speed information

Abstract

This invention provides an integrated interferometric optical gyroscope, components, system, and method for calculating rotational speed information. The gyroscope includes: a light source module, a first coupling module, a second coupling module, at least two polarization separation and rotation modules, a photoelectric detection module, and a helical waveguide module. The two polarization separation and rotation modules are respectively connected to the distal and proximal ends of the helical waveguide module, used to convert two light waves with the same TE polarization state into TE and TM polarization states, and send them to both ends of the helical waveguide module, so that they are transmitted in opposite directions in the helical waveguide module. Then, the two light beams after passing through the helical waveguide module are received and their polarization states are converted back to the same TE mode. This gyroscope eliminates the use of circulators or 50 / 50 couplers, avoids reflected light waves to the light source, and eliminates the impact of system errors, drift or disturbances, and environmental temperature changes on the stability of the gyroscope performance.

Description

Technical Field

[0001] This invention relates to the field of optical gyroscopes, and more particularly to an integrated interferometric optical gyroscope, components, system, and method for calculating rotational speed information. Background Technology

[0002] The configuration of a traditional interferometric optical gyroscope is as follows: Figure 1 As shown, the light emitted from the light source is split by a 50 / 50 coupler and enters a single-mode waveguide coil to form clockwise and counterclockwise beams. When the gyroscope rotates perpendicular to the plane, the two back-propagating beams experience different phase shifts, which are proportional to the rotation speed. The returning light is then interfered with by the 50 / 50 coupler, and the phase shift is converted into intensity information. The light is then detected by a photodetector after passing through a circulator. Circulators, as discrete optical devices, are usually based on magneto-optical materials, making them difficult to apply in monolithic integrated chip solutions; in addition, circulators have a certain loss, about 1-2 dB, which also increases costs. Without a circulator, reflected light would reach the light source, which is generally undesirable. 50 / 50 couplers are often used to replace circulators to extract the returned light and send it to the detector, but this 50 / 50 coupler introduces additional link losses, for example, passing through the 50 / 50 coupler twice in the round trip results in a loss of 2 × 3 dB = 6 dB, and some reflected light will return to the light source through the 50 / 50 coupler, thus affecting the light source.

[0003] The additional losses and reflections caused by the aforementioned circulators or 50 / 50 couplers all affect the performance of interferometric optical gyroscopes. Furthermore, system errors, drift or disturbances, and environmental temperature variations impact the stability of gyroscope performance and require further improvement. Therefore, the integrated gyroscope solution, which eliminates the use of circulators or 50 / 50 couplers, avoids reflected light waves to the light source, and eliminates the impact of system errors, drift or disturbances, and environmental temperature variations on the stability of gyroscope performance, is of great significance. Therefore, a novel integrated interferometric optical gyroscope, component, system, and method for calculating rotational speed information are urgently needed to improve the aforementioned problems. Summary of the Invention

[0004] The purpose of this invention is to provide an integrated interferometric optical gyroscope, components, system, and method for calculating rotational speed information. This integrated interferometric gyroscope has low link optical loss, avoids emitting light to the light source, thereby improving the performance of the interferometric optical gyroscope, simplifying manufacturing, and reducing costs. Furthermore, this integrated interferometric gyroscope system can eliminate the influence of system errors, drift or disturbances, and environmental temperature changes on the stability of gyroscope performance.

[0005] In a first aspect, the present invention provides an integrated interferometric optical gyroscope, comprising: a light source module, a first coupling module, a second coupling module, two polarization separation and rotation modules, a photoelectric detection module, and a helical waveguide module; the first coupling module is used to split a beam of light emitted by the light source module into two beams of light; the two polarization separation and rotation modules are respectively connected to the distal end and the proximal end of the helical waveguide module, and are used to convert the two beams of light, which are both in the TE polarization state, into two polarization states, transverse electric (TE) and transverse magnetic (TM), and send them to both ends of the helical waveguide module, so that they are transmitted in opposite directions in the helical waveguide module 5, and then receive the two beams of light after passing through the helical waveguide module 5 and convert both polarization states back to the same TE mode; the second coupling module is used to merge the two beams of light output from the distal end and the proximal end into a composite beam of light; the photoelectric detection module is connected to the second coupling module and is used to obtain the rotation speed information of the gyroscope based on the composite beam of light.

[0006] The beneficial effects of the method of the present invention are as follows: The two polarization separation rotation modules in the integrated interferometric optical gyroscope provided by the present invention are respectively connected to the distal and proximal ends of the helical waveguide module, transmitting the two light waves in TE and TM polarization states via the helical waveguide module. The second coupling module provided by the present invention is used to combine the two light waves output from the distal and proximal ends into a single composite light wave. The photoelectric detection module is connected to the second coupling module. The present invention eliminates the need for a circulator and avoids reflected light directed towards the light source, thus preventing light wave loss and improving the performance of the integrated interferometric optical gyroscope. The two light waves in the TE and TM polarization states have a fixed phase difference when the gyroscope is stationary. By rationally designing this fixed phase difference, the integrated interferometric optical gyroscope can operate at its optimal operating point, more effectively acquiring rotational speed information.

[0007] Optionally, the polarization separation and rotation module is used to convert two beams of light with TE mode polarization into a beam of light with TE mode superimposed on TM mode polarization; or the polarization separation and rotation module is used to convert a beam of light with TE mode superimposed on TM mode polarization into two beams of light with TE mode polarization; the spiral waveguide module simultaneously supports the transmission of polarized light with TE mode and TM mode polarization; in the same spiral waveguide module, the transmission directions of the light wave with TE mode polarization and the light wave with TM mode polarization are opposite.

[0008] Optionally, a polarization control module is also included; the polarization control module is connected to at least one polarization separation and rotation module for adjusting or controlling the polarization mode of the light wave, for example, filtering out unwanted TM polarized light and retaining the desired TE polarized light.

[0009] Optionally, it also includes an adjustable light attenuation module; the adjustable light attenuation module is connected to the second coupling module and is used to adjust the intensity of the light waves on the two interference arms, thereby improving the interference effect.

[0010] Optionally, a phase modulation module is also included; the phase modulation module is connected to the first coupling module and at least one polarization separation and rotation module respectively, and is used to modulate the phase of the light wave and thus adjust the interferometric optical gyroscope at the operating point.

[0011] Optionally, a delay line is also included; the delay line is connected to the light source module and the first coupling module respectively, and is used to delay the light wave.

[0012] Optionally, both the first coupling module and the second coupling module are connected to a light source module and a photoelectric detection module.

[0013] Secondly, the present invention provides an optical gyroscope assembly comprising two gyroscopes, wherein the propagation directions of the mid-TE mode polarized light of the two gyroscopes are opposite to each other; and the propagation directions of the mid-TM mode polarized light of the two gyroscopes are opposite to each other.

[0014] Optionally, the connection positions of the light source module and photoelectric detection module of the two gyroscopes are opposite.

[0015] Optionally, the ports of the polarization separation rotation modules of the two gyroscopes have different orientations.

[0016] Optionally, the two gyroscopes share the same light source module; a beam of light emitted by the light source module is split into four beams of light through a coupling module.

[0017] Thirdly, the present invention provides a method for calculating gyroscope rotation speed information, used to obtain rotation speed information using the gyroscope described in any one of the first aspects, comprising: splitting a beam of light into two beams of TE mode light waves; converting the two beams of TE mode light waves into one beam of TE mode light waves and one beam of TM mode light waves; transmitting both the one beam of TE mode light waves and the one beam of TM mode light waves via a helical waveguide module; converting the one beam of TE mode light waves and the one beam of TM mode light waves into two beams of TE mode light waves and then merging them into a composite light wave; calculating the light intensity information detected by a photoelectric detection module, and then converting the light intensity information into total phase information to obtain rotation speed information.

[0018] Because the effective refractive indices of TE and TM mode polarized light are different, they produce a fixed phase difference, denoted by φ0, after passing through the helical waveguide module. When the gyroscope rotates perpendicular to the plane, the two back-propagating light rays experience different phase shifts, denoted by φ0. rThis indicates that the phase shift is proportional to the rotational speed. After the returned light is interfered with by the coupling module, the phase shift is converted into light intensity information, which is detected by the photodetector module. The signal detected by the photodetector module allows the extraction of φ. r This allows us to obtain rotational speed information. When φ0 is π / 2 + k × π, where k is any integer, the interferometric optical gyroscope is at its optimal operating point.

[0019] The optimal operating point is the point where the slope of the light intensity versus angular velocity curve is maximum, i.e., the point most sensitive to change. The initial φ0 can be set to π / 2 + k × π, where k is an arbitrary integer, by setting the waveguide cross-sectional dimensions and shape of the helical waveguide coil and the waveguide length, thus placing it at the optimal operating point. Alternatively, it can be adjusted to this optimal operating point using a phase modulation module. In some specific embodiments, the total phase φ detected by the photoelectric detection module... total satisfy:

[0020]

[0021] Where, n eff,TE and n eff,TM λ and t are the effective refractive indices of TE-mode polarized light and TM-mode polarized light in the helical waveguide coil, respectively; L is the total length of the helical coil; λ is the working wavelength; A is the total area of ​​the helical waveguide coil; c is the speed of light in vacuum; and Ω is the angular velocity to be detected.

[0022] Fourthly, the present invention provides a method for calculating the rotational speed information of a gyroscope component, used to obtain rotational speed information through the gyroscope component described in any one of the second aspects, comprising: in each gyroscope, splitting a beam of light into two beams of TE mode light waves; converting the two beams of TE mode light waves into one beam of TE mode light waves and one beam of TM mode light waves; transmitting the one beam of TE mode light waves and the one beam of TM mode light waves respectively through the helical waveguide modules of the two gyroscopes, wherein the TE mode light waves and the TM mode light waves are in opposite directions in the helical waveguide modules of the two gyroscopes; merging the one beam of TE mode light waves and the beam of TM mode light waves into two beams of TE light waves and then combining them into a composite light wave; calculating the first light intensity information detected by the photoelectric detection module of the first gyroscope, and converting the first light intensity information into first total phase information; calculating the second light intensity information detected by the photoelectric detection module of the second gyroscope, and converting the second light intensity information into second total phase information; and averaging the first total phase information and the second total phase information to obtain rotational speed information.

[0023] To reduce or eliminate the influence of the environment on the fixed phase difference φ0, this embodiment can be further extended. For example, it includes two integrated interferometric optical gyroscopes with identical helical waveguide coils. The only difference is that the light input and output directions of the second integrated interferometric optical gyroscope are adjusted so that the propagation directions of the TE and TM mode polarized light in both gyroscopes are opposite to each other, propagating counterclockwise and clockwise respectively. Thus, the fixed phase difference generated by the TE and TM mode light after passing through the coil in the second integrated interferometric optical gyroscope is opposite to that of the first integrated interferometric optical gyroscope, i.e., -φ0, while the phase difference generated by rotation is the same as that of the first integrated interferometric optical gyroscope, both being φ0. r The total phase change φ produced by the first integrated interferometric optical gyroscope total satisfy:

[0024]

[0025] Where, n eff,TE and n eff,TM λ and t are the effective refractive indices of TE-mode polarized light and TM-mode polarized light in the helical waveguide coil, respectively; L is the total length of the helical coil; λ is the working wavelength; A is the total area of ​​the helical waveguide coil; c is the speed of light in vacuum; and Ω is the angular velocity to be detected.

[0026] The total phase change φ generated by the second integrated interferometric optical gyroscope total ''satisfy:

[0027]

[0028] Where, n eff,TE and n eff,TM λ and λ represent the effective refractive indices of TE-mode and TM-mode polarized light in the helical waveguide coil, respectively; L is the total length of the helical coil; λ is the operating wavelength; A is the total area of ​​the helical waveguide coil; c is the speed of light in vacuum; and Ω is the angular velocity to be detected. Next, by averaging the phases generated by the two integrated interferometric optical gyroscopes, the φ0 term can be eliminated, thus eliminating the influence of systematic errors, drift, or disturbances. The two back-propagating light rays experience different phase shifts φr, satisfying:

[0029]

[0030] Where λ is the operating wavelength, A is the total area of ​​the helical waveguide coil, c is the speed of light in vacuum, and Ω is the angular velocity to be detected.

[0031] Fifthly, the present invention provides an interferometric optical gyroscope system, comprising peripheral circuitry, mechanical packaging components, and the gyroscope described in any one of the first aspects; the peripheral circuitry comprises at least one of a processor, controller, driver, signal acquisition unit, calibrator, and temperature sensor; the mechanical packaging components comprise at least one of a housing, base, gasket, optical / electrical interface, shock absorber, and MEMS; the other optical components comprise at least one of a lens, prism, mirror, isolator, optical coating, fiber optic cable, and interface.

[0032] Optionally, the three optical gyroscope systems are placed in three directions to detect angular velocity information in three directions; the three optical gyroscope systems cooperate with three external accelerometers to form an inertial sensing system. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of an existing optical gyroscope.

[0034] Figure 2 This invention provides a schematic diagram of the structure of an integrated interferometric optical gyroscope.

[0035] Figure 3 A schematic diagram of an integrated interferometric optical gyroscope provided by the present invention, comprising a phase modulation module, a polarization control module, and an adjustable light attenuation module;

[0036] Figure 4 The optical field mode spots at the waveguide cross-section under TE mode and TM mode polarization provided by this invention;

[0037] Figure 5 A schematic diagram showing the input of TE-mode polarized light from the first end of the polarization separation and rotation module provided by the present invention into the polarization separation and rotation module;

[0038] Figure 6 A schematic diagram showing the input of TE-mode polarized light from the second end of the polarization separation and rotation module provided by the present invention into the polarization separation and rotation module;

[0039] Figure 7 A schematic diagram showing the input of TM mode polarized light from the third end of the polarization separation and rotation module provided by the present invention into the polarization separation and rotation module;

[0040] Figure 8 A schematic diagram showing the input of TE-mode polarized light from the third end of the polarization separation and rotation module provided by the present invention into the polarization separation and rotation module;

[0041] Figure 9 A schematic diagram of a gyroscope whose coupling module simultaneously connects a light source module and a photoelectric detection module, provided by the present invention;

[0042] Figure 10 This invention provides a schematic diagram of a beam splitter connected to two photoelectric detection modules.

[0043] Figure 11 This invention provides a schematic diagram of the structure connecting an adjustable light attenuation module with two photoelectric detection modules.

[0044] Figure 12 A schematic diagram of a system consisting of two gyroscopes with opposite connection positions of a light source module and a photoelectric detection module, provided by the present invention;

[0045] Figure 13 A schematic diagram of the structure of a system consisting of two gyroscopes with different port directions in a polarization separation rotation module provided by the present invention;

[0046] Figure 14 This invention provides a schematic diagram of a structure in which two gyroscopes share the same light source module;

[0047] Figure 15 A flowchart illustrating a method for calculating gyroscope rotation speed information provided by the present invention;

[0048] Figure 16 A flowchart illustrating a method for calculating the rotational speed information of a gyroscope component provided by the present invention;

[0049] Figure 17 This invention provides a schematic diagram of the structure of an interferometric optical gyroscope system.

[0050] Figure 18 This is a schematic diagram of the spatial distribution of the three interferometric optical gyroscope systems provided by the present invention.

[0051] Numbering on the map:

[0052] 1. Light source module; 11. First light source module; 12. Second light source module;

[0053] 21. First coupling module; 22. Second coupling module; 23. Third coupling module; 24. Fourth coupling module;

[0054] 31. First phase modulation module; 32. Second phase modulation module; 33. Third phase modulation module; 34. Fourth phase modulation module;

[0055] 41. First polarization separation and rotation module; 42. Second polarization separation and rotation module; 43. Third polarization separation and rotation module; 44. Fourth polarization separation and rotation module;

[0056] 5. Helical waveguide module; 51. First helical waveguide module; 52. Second helical waveguide module;

[0057] 61. First polarization control module; 62. Second polarization control module; 63. Third polarization control module; 64. Fourth polarization control module;

[0058] 71. First adjustable light attenuation module; 72. Second adjustable light attenuation module; 73. Third adjustable light attenuation module; 74. Fourth adjustable light attenuation module;

[0059] 8. Photoelectric detection module; 81. First photoelectric detection module; 82. Second photoelectric detection module;

[0060] 91. The first end of the polarization separation and rotation module; 92. The second end of the polarization separation and rotation module; 93. The third end of the polarization separation and rotation module. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed following the word and its equivalents, but do not exclude other elements or objects.

[0062] Figure 1 This is a schematic diagram of the structure of an existing optical gyroscope. Figure 2 This is a schematic diagram of an integrated interferometric optical gyroscope provided by the present invention.

[0063] In response to the problems existing in the current technology, such as Figure 2As shown, this invention provides an integrated interferometric optical gyroscope, comprising: a light source module 1, a first coupling module 21, a second coupling module 22, at least two polarization separation and rotation modules, a photoelectric detection module 8, and a helical waveguide module 5. The first coupling module 21 splits a beam of light emitted from the light source module 1 into two beams. The two polarization separation and rotation modules are respectively connected to the distal and proximal ends of the helical waveguide module 5, and are used to convert the two beams, both in the TE polarization state, into TE and TM polarization states, and send them to both ends of the helical waveguide module 5, allowing them to propagate in opposite directions within the helical waveguide module 5. Then, the module receives the two beams after passing through the helical waveguide module 5 and converts both beams back to the same TE mode. The second coupling module 22 combines the two beams output from the distal and proximal ends and passing through the polarization separation and rotation modules into a single composite beam. The photoelectric detection module 8 is connected to the second coupling module 22 and is used to obtain the gyroscope's rotation speed information based on the composite beam.

[0064] For details, please refer to Figure 2 Both the first coupling module 21 and the second coupling module 22 are 1×2 couplers. The first coupling module 21 splits a beam of light from the light source module 1 into two TE-mode beams. One TE-mode beam is converted into a TM-mode beam by the first polarization separation and rotation module 41, and is transmitted from the distal end to the proximal end of the spiral waveguide module 5. Then, the TM-mode beam is converted into a TE-mode beam by the second polarization separation and rotation module 42, and is transmitted along the second coupling module 22 to the photodetector module 8.

[0065] Meanwhile, another TE-mode light wave passes through the second polarization separation and rotation module 42 and is transmitted from the proximal end to the distal end of the spiral waveguide module 5. After that, the TE-mode light wave passes through the first polarization separation and rotation module 41 and is transmitted along the second coupling module 22 to the photoelectric detection module 8.

[0066] In other specific embodiments, the light source module 1 is an on-chip hybrid integrated or heterogeneous integrated light source, and the integrated material includes, but is not limited to, III-V / silicon, III-V / silicon nitride, III-V / thin lithium niobate, III-V / alumina, III-V / silicon dioxide, and III-V / polymer.

[0067] In some specific embodiments, the light source module 1 can be an external light source, which is coupled into the gyroscope chip.

[0068] In some specific embodiments, the light source module 1 includes, but is not limited to, a distributed feedback laser (DFB), a distributed Bragg reflector (DBR), a super luminescent diode (SLD), a light-emitting diode (LED), a vertical cavity surface emitting laser (VCSEL), amplified spontaneous emission (ASE), and an optical amplifier.

[0069] It is worth noting that the two polarization separation rotation modules in the integrated interferometric optical gyroscope provided by this invention are respectively connected to the telecentric and proximal ends of the helical waveguide module 5. The two light waves are transmitted via the helical waveguide module 5 in TE and TM mode polarization states, respectively, so that the two light waves have a fixed phase difference in the initial state of the gyroscope (i.e., when the rotational angular velocity is zero). By reasonably designing this fixed phase difference, the integrated interferometric optical gyroscope can operate at its optimal operating point, more effectively acquiring rotational speed information. The second coupling module 22 provided by this invention is used to merge the two light waves output from the telecentric and proximal ends into a single composite light wave. The photoelectric detection module 8 is connected to the second coupling module 22. This invention eliminates the need for a circulator and does not generate reflected light directed towards the light source, thus avoiding light wave loss and improving the performance of the optical gyroscope.

[0070] In some embodiments, the polarization separation and rotation module is used to convert two beams of light with TE mode polarization into a beam of light with TE mode superimposed on TM mode polarization. Alternatively, the polarization separation and rotation module is used to convert a beam of light with TE mode superimposed on TM mode polarization into two beams of light with TE mode polarization. The spiral waveguide module 5 simultaneously supports the transmission of both TE mode and TM mode polarized light. Within the same spiral waveguide module 5, the transmission directions of the TE mode polarized light and the TM mode polarized light are opposite.

[0071] Specifically, the polarization separation rotation module includes, but is not limited to, adiabatic couplers, bending couplers, directional couplers, Y-branching, multimode interference structures, subwavelength structures, and multilayer waveguide structures.

[0072] In other specific embodiments, the helical waveguide module 5 includes a single-mode waveguide or a multimode waveguide. The shape of the helical waveguide coil can be a circular helix, a rounded square helix, a rounded polygonal helix, etc. The waveguide crossing can be implemented in various ways, including but not limited to multimode waveguide crossing, nonlinear optimized crossing, multilayer waveguide crossing, and waveguide crossing of different material layers. The waveguide type of the integrated interferometric optical gyroscope includes at least one of channel waveguide, ridge waveguide, slot waveguide, diffused waveguide, and photonic crystal waveguide.

[0073] In some specific embodiments, the coupling module can be either a 1×2 coupler or a 2×2 coupler, including but not limited to at least one of the following: Y-shaped branch, trident-shaped branch, multimode interferometer, directional coupler, thermally adiabatic coupler, bending coupler, photonic crystal beam splitter, and subwavelength beam splitter, as long as the splitting ratio of the two outputs is 50 / 50.

[0074] In some specific embodiments, the photoelectric detection module 8 includes, but is not limited to, germanium detectors, silicon detectors, germanium-silicon detectors, III-V detectors, metal-semiconductor-metal detectors, and avalanche photodetectors.

[0075] Figure 3 This invention provides a schematic diagram of a gyroscope equipped with a phase modulation module, a polarization control module, and an adjustable light attenuation module.

[0076] like Figure 3 As shown, in some embodiments, a polarization control module is also included. The polarization control module is connected to at least one polarization separation and rotation module for adjusting the polarization mode of the light wave.

[0077] Specifically, the first polarization control module 61 is connected to the first polarization separation and rotation module 41. The second polarization control module 62 is connected to the second polarization separation and rotation module 42. Please refer to... Figure 2 Both the first coupling module 21 and the second coupling module 22 are 1×2 couplers. The first coupling module 21 splits a beam of light from the light source module 1 into two TE-mode beams. One TE-mode beam, after passing through the first phase modulation module 31, is converted into a TM-mode beam by the first polarization separation and rotation module 41, and is transmitted from the distal end to the proximal end of the spiral waveguide module 5. The TM-mode beam is then converted into a TE-mode beam by the second polarization separation and rotation module 42, and is transmitted along the second polarization control module 62, the second adjustable light attenuation module 72, and the second coupling module 22 to the photoelectric detection module 8.

[0078] Meanwhile, a beam of TE-mode light wave, after passing through the second phase modulation module 32 and the second polarization separation and rotation module 42, still maintains the TE mode and is transmitted from the proximal end to the distal end of the spiral waveguide module 5. Afterward, the TE-mode light wave, after passing through the first polarization separation and rotation module 41, still maintains the TE mode and is transmitted along the first polarization control module 61, the first adjustable light attenuation module 71, and the second coupling module 22 to the photoelectric detection module 8.

[0079] It is worth noting that the structure of the polarization control module includes, but is not limited to, cascaded curved waveguides, cascaded multilayer waveguide converters, locally doped silicon waveguides, tunable doped silicon PIN junctions, and tunable doped silicon PN junctions.

[0080] Reference Figure 3 In some embodiments, an adjustable light attenuation module is also included. The adjustable light attenuation module is connected to the second coupling module 22 and is used to adjust the relative intensity of the light waves on the two interference arms, thereby improving the interference effect.

[0081] Specifically, the tunable optical attenuation module can be structured in various ways, including but not limited to a tunable Mach-Zehnder interferometer, a tunable doped silicon PIN junction, a tunable doped silicon PN junction, and an electro-absorption modulator. The tunable optical attenuation module can be used to adjust the light intensity on both arms, compensating for the difference in optical loss between the TE and TM polarization states. The sources of this optical loss difference include differences in optical transmission loss between the TE and TM modes in the helical waveguide coil, differences in optical insertion loss of the polarization separation rotation module, differences in optical insertion loss at waveguide crossings, and differences in optical insertion loss between the two arms caused by particulate matter or processing defects. This ensures that the light intensities of the two beams are equal or nearly equal before interference, achieving optimal interference effect, i.e., optimal gyroscope rotation speed information detection capability. The tunable optical attenuator can be placed on either or both arms of the interferometer.

[0082] Reference Figure 3 In some embodiments, a phase modulation module is also included. The phase modulation module is connected to the first coupling module 21 and at least one polarization separation and rotation module, respectively, and is used to modulate the phase of the light wave.

[0083] Specifically, the phase modulation module is a phase shifter (PS), which can be used to adjust the optimal operating point of the interferometric optical gyroscope, to compensate for the initial phase shift caused by manufacturing errors, and to load high-frequency signals onto light waves.

[0084] It is worth noting that the structure of the phase modulator includes, but is not limited to, titanium nitride heaters, doped silicon heaters, silicon PN junctions, silicon PIN junctions, piezoelectric ceramic devices, micro-electro-mechanical systems (MEMS) structures, polymer phase modulators, lithium niobate phase modulators, III-V phase modulators, and other compound phase modulators. The phase modulator can be on both arms or on only one arm. Phase modulators on both arms can operate in push-pull, differential, or other configurations. The phase modulator can be placed on either arm or one arm of the interferometer.

[0085] It is worth noting that the relative positions of the phase modulation module, polarization control module, and adjustable optical attenuation module are not limited to those shown in the attached figures, and their positions or order can be interchanged. Alternatively, one or more modules can be omitted as needed to simplify system complexity.

[0086] In some embodiments, a delay line (not shown in the figure) is also included. The delay line is connected to the light source module 1 and the first coupling module 21 respectively, and is used to delay the light wave.

[0087] Specifically, the delay line is connected between the light source module 1 and the first coupling module 21. The shape of the delay line can be a circular spiral, a rounded square spiral, a rounded polygonal spiral, an external fiber waveguide, etc.

[0088] Figure 4 The optical field mode spots at the waveguide cross section under TE mode and TM mode polarization provided by the present invention.

[0089] like Figure 4 As shown, observing the optical field pattern at the cross-section of the waveguide reveals that both TE and TM polarization modes of light can be supported by the waveguide, meaning they can both propagate along the waveguide.

[0090] Figure 5 This is a schematic diagram of the TE-mode polarized light being input from the first end of the polarization separation and rotation module provided by the present invention. Figure 6 This is a schematic diagram of the TE-mode polarized light being input from the second end of the polarization separation and rotation module provided by the present invention. Figure 7 This is a schematic diagram of the TM mode polarized light being input from the third end of the polarization separation and rotation module provided by the present invention. Figure 8 This is a schematic diagram of the TE-mode polarized light being input into the polarization separation and rotation module from the third end of the polarization separation and rotation module provided by the present invention.

[0091] like Figure 5-8As shown, the polarization separation and rotation module has three ends. When the first end 91 or the second end 92 of the polarization separation and rotation module is used to input light waves, the third end 93 of the polarization separation and rotation module is used to output light waves. When the third end 93 of the polarization separation and rotation module is used to input light waves, the first end 91 or the second end 92 of the polarization separation and rotation module is used to output light waves. The polarization separation and rotation module is reversible.

[0092] Reference Figure 5 Specifically, when the first end 91 of the polarization separation and rotation module receives a TE mode light wave, the third end 93 of the polarization separation and rotation module outputs a TM mode light wave.

[0093] Reference Figure 6 In some other specific embodiments, when the second end 92 of the polarization separation and rotation module receives a TE-mode light wave, the third end 93 of the polarization separation and rotation module outputs a TE-mode light wave.

[0094] Reference Figure 7 In some specific embodiments, when the third end 93 of the polarization separation and rotation module receives a TM mode light wave, the first end 91 of the polarization separation and rotation module outputs a TE mode light wave.

[0095] Reference Figure 8 In some specific embodiments, when the third terminal 93 of the polarization separation and rotation module receives a TE-mode light wave, the second terminal 92 of the polarization separation and rotation module outputs a TE-mode light wave.

[0096] Figure 9 This invention provides a schematic diagram of a gyroscope whose coupling module simultaneously connects a light source module and a photoelectric detection module.

[0097] like Figure 9 As shown, in some embodiments, the first coupling module 21 is connected to the first light source module 11 and the first photoelectric detection module 81; the second coupling module 22 is connected to the second light source module 12 and the second photoelectric detection module 82.

[0098] Specifically, both the first coupling module 21 and the second coupling module 22 are 2×2 couplers. During the first time period, the first coupling module 21 splits a beam of light from the first light source module 11 into two beams. (Refer to...) Figure 5 In this process, a TE-mode light wave, after passing through the first phase modulation module 31 and the first polarization control module 61, is converted into a TM-mode light wave via the first polarization separation and rotation module 41, and then transmitted from the distal end to the proximal end of the helical waveguide module 5. (Refer to...) Figure 7The TM mode light wave is then converted into a TE mode light wave by the second polarization separation and rotation module 42, and transmitted to the second photoelectric detection module 82 along the fourth polarization control module 64, the second adjustable light attenuation module 72 and the second coupling module 22.

[0099] At the same time, refer to Figure 6 The TE-mode light wave, after passing through the second phase modulation module 32 and the second polarization separation and rotation module 42, still maintains the TE mode and is transmitted from the proximal end to the distal end of the helical waveguide module 5. (Refer to...) Figure 8 Afterwards, the TE mode light wave remains in the TE mode after passing through the first polarization separation and rotation module 41, and is transmitted to the second photoelectric detection module 82 along the third polarization control module 63, the first adjustable light attenuation module 71 and the second coupling module 22.

[0100] In other specific embodiments, during the second time period, the second coupling module 22 splits a beam of light from the second light source module 12 into two beams. (Refer to...) Figure 6 In this process, a beam of TE-mode light, after passing through the first adjustable light attenuation module 71 and the third polarization control module 63, maintains its TE mode via the first polarization separation and rotation module 41 and is transmitted from the distal end to the proximal end of the helical waveguide module 5. (Refer to...) Figure 8 Afterwards, the TE mode light wave remains in the TE mode after passing through the second polarization separation and rotation module 42, and is transmitted to the first photoelectric detection module 81 along the second polarization control module 62, the second phase modulation module 32 and the first coupling module 21.

[0101] At the same time, refer to Figure 5 A beam of TE-mode light, after passing through the second adjustable light attenuation module 72 and the fourth polarization control module 64, is converted into TM-mode light via the second polarization separation and rotation module 42, and then transmitted from the proximal end to the distal end of the helical waveguide module 5. (Refer to...) Figure 7 The TM mode light wave is then converted into the TE mode by the first polarization separation and rotation module 41, and transmitted to the first photoelectric detection module 81 along the first polarization control module 61, the first phase modulation module 31 and the first coupling module 21.

[0102] It is worth noting that the first and second time periods mentioned above can alternate and cycle to achieve time-division multiplexing, enabling the reception of signals from the integrated interferometric optical gyroscope in different time periods.

[0103] In other specific embodiments, two additional polarization control modules (not shown in the figure) may be added to enable polarization control of light before it enters the helical waveguide and after it leaves the helical waveguide.

[0104] It is worth noting that the integrated material platform on which the above-mentioned integrated interferometric optical gyroscope is based includes silicon, silicon-on-insulator, silicon-on-sapphire, silicon nitride-on-insulator, silicon dioxide, alumina, indium phosphide, lithium niobate, polymers, etc. The integrated interferometric optical gyroscope device can be based on the same material platform. Alternatively, it can be based on different material platforms and integrated through wafer bonding, heterogeneous growth, or optical coupling between different chips (not shown in the figure). The operating wavelength range of the gyroscope includes at least one of the visible light band, O-band, E-band, S-band, C-band, L-band, U-band, and mid-infrared band.

[0105] Figure 10 This is a schematic diagram of a beam splitter connected to two photoelectric detection modules, as provided by the present invention.

[0106] like Figure 10 As shown, it is worth noting that when Figure 2 and Figure 3 In the embodiment where a 2×2 coupler is used, a photodetector module 8 can also be connected to each of the two output ports of the 2×2 coupler, i.e., two photodetector modules 8 are used, such as... Figure 10 As shown, the first photoelectric detection module 81 and the second photoelectric detection module 82 can process the detection signal by performing differential processing. Furthermore, if needed, a beam splitter (tap coupler) can be added after the adjustable light attenuation module of the integrated interferometric optical gyroscope and connected to the first photoelectric detection module 81 and the second photoelectric detection module 82 to detect optical signal information at certain locations.

[0107] Figure 11 This is a schematic diagram of the structure of an adjustable light attenuation module connected to two photoelectric detection modules provided by the present invention.

[0108] like Figure 11 As shown, the adjustable light attenuation module is connected to a beam splitter before and after it, and is connected to the photodetector module 8. The photodetector module 8 can be integrated on-chip or externally mounted and connected to the on-chip via optical coupling.

[0109] In some embodiments, depending on usage requirements or integrability, the light source module 1 and photodetector module 8 can be placed outside the integrated chip and connected to the chip via optical coupling. In this case, an end-face coupler or a grating coupler can be used to couple light into or out of the chip, and the coupling method includes, but is not limited to, at least one of lens converging coupling, fiber optic docking coupling, and evanescent wave coupling. The structural design of the end-face coupler may include, but is not limited to, at least one of inverted conical, stepped inverted conical, cantilever beam, multiple waveguides, multilayer waveguides, and subwavelength structures. The structural design of the grating coupler includes, but is not limited to, at least one of straight gratings, fan-shaped curved gratings, dual polarization gratings, and multilayer material gratings.

[0110] It should be understood that Figure 2 , 3 Figure 9 is only a structural diagram. In actual use, the waveguide routing, bending direction, placement direction, and the placement and relative order of each module can be adjusted appropriately. Figure 2 , 3 The integrated interferometric optical gyroscopes in 9 can be formed into an array.

[0111] Figure 12 This invention provides a schematic diagram of a system consisting of two gyroscopes with opposite connection positions for a light source module and a photoelectric detection module. Figure 13 This is a schematic diagram of the structure of a system consisting of two gyroscopes with different port directions, which is provided by the present invention for a polarization separation rotation module. Figure 14 This is a schematic diagram of a system for two gyroscopes sharing the same light source module, provided by the present invention.

[0112] like Figure 12-14 As shown, the present invention provides an optical gyroscope assembly comprising two gyroscopes as described in any of the above embodiments, wherein the propagation directions of the mid-TE mode polarized light from the two gyroscopes are opposite to each other. The propagation directions of the mid-TM mode polarized light from the two gyroscopes are also opposite to each other.

[0113] Reference Figure 12 Specifically, the connection positions of the light source module 1 and the photoelectric detection module 8 of the two gyroscopes are opposite.

[0114] More specifically, for the first gyroscope, a beam of light emitted from the first light source module 11 is split into two TE-mode light waves by the first coupling module 21. (Refer to...) Figure 5 The TE-mode light wave, after passing through the first phase modulation module 31, is converted into a TM-mode light wave by the first polarization separation and rotation module 41. It is then transmitted from the distal end to the proximal end of the first helical waveguide module 51. (Refer to...) Figure 7 The TM mode light wave is then converted into the TE mode by the second polarization separation and rotation module 42, and transmitted to the first photoelectric detection module 81 along the second polarization control module 62, the second adjustable light attenuation module 72 and the second coupling module 22.

[0115] At the same time, refer to Figure 6 The TE-mode light wave, after passing through the second phase modulation module 32, retains its TE mode after passing through the second polarization separation and rotation module 42. It is then transmitted from the proximal end to the distal end of the first helical waveguide module 51. (Refer to...) Figure 8 Afterwards, the TE mode light wave remains in the TE mode after passing through the first polarization separation and rotation module 41, and is transmitted to the first photoelectric detection module 81 along the first polarization control module 61, the first adjustable light attenuation module 71 and the second coupling module 22.

[0116] For the second gyroscope, a beam of light emitted from the second light source module 12 is split into two TE-mode light waves by the third coupling module 23. (Refer to...) Figure 6 The TE-mode light wave, after passing through the third phase modulation module 33, retains its TE mode after passing through the third polarization separation and rotation module 43. It is then transmitted from the distal end to the proximal end of the second helical waveguide module 52. (Refer to...) Figure 8 Afterwards, the TE mode light wave remains in the TE mode after passing through the fourth polarization separation and rotation module 44, and is transmitted to the second photoelectric detection module 82 along the fourth polarization control module 64, the fourth adjustable light attenuation module 74 and the fourth coupling module 24.

[0117] At the same time, refer to Figure 5 The TE-mode light wave, after passing through the fourth phase modulation module 34, is converted into a TM-mode light wave through the fourth polarization separation and rotation module 44. It is then transmitted from the proximal end to the distal end of the second helical waveguide module 52. (Refer to...) Figure 7 The TM mode light wave is then converted into the TE mode by the third polarization separation and rotation module 43, and transmitted to the second photoelectric detection module 82 along the third polarization control module 63, the third adjustable light attenuation module 73 and the fourth coupling module 24.

[0118] Reference Figure 13 In other specific embodiments, the ports of the polarization separation rotation modules of the two gyroscopes are oriented differently.

[0119] More specifically, refer to Figure 5 and 14 The first end 91 of the polarization separation and rotation module 41 is connected to the first phase modulation module 31. The second end 92 of the polarization separation and rotation module 41 is connected to the first polarization control module 61.

[0120] The first end 91 of the polarization separation and rotation module 42 is connected to the second polarization control module 62. The second end 92 of the polarization separation and rotation module 42 is connected to the second phase modulation module 32.

[0121] The first end 91 of the polarization separation and rotation module 43 is connected to the third polarization control module 63. The second end 92 of the polarization separation and rotation module 43 is connected to the third phase modulation module 33.

[0122] The first end 91 of the polarization separation and rotation module 44 is connected to the fourth phase modulation module 34. The second end 92 of the polarization separation and rotation module 44 is connected to the fourth polarization control module 64.

[0123] Reference Figure 14 In some specific embodiments, the two gyroscopes share the same light source module 1. A beam of light emitted by the light source module 1 is split into four beams through a coupling module.

[0124] Specifically, three 1×2 couplers are cascaded to split one beam of light into four beams.

[0125] In other specific embodiments, a 1×4 coupler may be provided to split a beam of light into four beams.

[0126] In addition, the two integrated interferometric optical gyroscopes mentioned above can also share the same photoelectric detection module (not shown in the figure) and receive signals from the two integrated interferometric optical gyroscopes in different time periods through time-division multiplexing.

[0127] Figure 15 This is a flowchart illustrating a method for calculating gyroscope rotation speed information provided by the present invention.

[0128] like Figure 15 As shown, this embodiment provides a method for calculating gyroscope rotation speed information, used to obtain rotation speed information using the gyroscope described in any of the above embodiments, including:

[0129] S11 splits a beam of light into two beams of TE mode light waves;

[0130] S12, convert the two TE mode light waves into one TE mode light wave and one TM mode light wave;

[0131] S13, both the TE mode light wave and the TM mode light wave are transmitted via the helical waveguide module;

[0132] S14, the beam of TE mode light wave and the beam of TM mode light wave are converted into two beams of TE light waves and then merged into a composite light wave.

[0133] S15, calculate the light intensity information detected by the photoelectric detection module, and then convert the light intensity information into total phase information to obtain the rotation speed information;

[0134] Among them, the total phase information φ total satisfy:

[0135]

[0136] Figure 16 This is a flowchart illustrating a method for calculating the rotational speed information of a gyroscope component, as provided by the present invention.

[0137] like Figure 16As shown, this embodiment provides a method for calculating the rotational speed information of a gyroscope component, used to obtain rotational speed information using the gyroscope described in any of the above embodiments, including:

[0138] S21, in each gyroscope, splits a beam of light into two beams of TE mode light waves;

[0139] S22, convert the two TE mode light waves into one TE mode light wave and one TM mode light wave;

[0140] S23, the TE mode light wave and the TM mode light wave are transmitted through the spiral waveguide modules of the two gyroscopes respectively, and the TE mode light wave and the TM mode light wave are in opposite directions in the spiral waveguide modules of the two gyroscopes.

[0141] S24, convert the TE mode light wave and the TM mode light wave into two TE light waves and then merge them into a composite light wave.

[0142] S25, calculate the first light intensity information detected by the photoelectric detection module of the first gyroscope, and convert the first light intensity information into first total phase information; calculate the second light intensity information detected by the photoelectric detection module of the second gyroscope, and convert the second light intensity information into second total phase information; average the first total phase information and the second total phase information to obtain the rotation speed information;

[0143] Among them, the total information of the first phase φ total satisfy:

[0144]

[0145] Second phase total information φ total ''satisfy:

[0146]

[0147] The φr obtained after taking the average satisfies:

[0148]

[0149] Reference Figure 3Specifically, the light emitted from the light source is in a TE mode polarization state. After being coupled by the coupling module, it is split into two beams. The beams then pass through the phase modulation module and reach the polarization separation and rotation module. After polarization separation and rotation at the polarization separation and rotation module, the two beams enter the helical waveguide module 5 in TE and TM mode polarization states, respectively, and propagate in opposite directions within it. The helical waveguide coils maintain the polarization of both TE and TM mode polarized light, meaning that the polarization state of the light does not change after transmission. After leaving the helical waveguide coils, the two beams pass through the polarization separation and rotation module in opposite directions, are converted to TE mode polarization, and exit from a port different from the incident port. They then enter an adjustable light attenuation module and a polarization control module, and finally enter the second coupling module, where they are combined before entering the photodetector module 8.

[0150] Because the effective refractive indices of TE and TM mode polarized light are different, they produce a fixed phase difference, denoted by φ0, after passing through the helical waveguide module 5. When the gyroscope rotates perpendicular to the plane, the two back-propagating light rays experience different phase shifts, denoted by φ0. r This indicates that the phase shift is proportional to the rotational speed. After the returned light is interfered with by the coupling module, the phase shift is converted into light intensity information, which is detected by the photoelectric detection module 8. The signal detected by the photoelectric detection module 8 can be used to extract φ. r This allows us to obtain rotational speed information. When φ0 is π / 2 + k × π, where k is any integer, the interferometric optical gyroscope is at its optimal operating point.

[0151] The optimal operating point is the point where the slope of the light intensity relative to the angular velocity curve is the largest, i.e., the point where changes are most sensitive. The initial φ0 can be set to π / 2 + k × π, where k is any integer, by adjusting the waveguide cross-sectional dimensions and shape of the helical waveguide coil and the waveguide length, thus placing it at the optimal operating point. Alternatively, this optimal operating point can be adjusted using a phase modulation module.

[0152] In other specific embodiments, the total phase φ detected by the photoelectric detection module 8 total satisfy:

[0153]

[0154] Where, n eff,TE and n eff,TM λ and t are the effective refractive indices of TE-mode polarized light and TM-mode polarized light in the helical waveguide coil, respectively; L is the total length of the helical coil; λ is the working wavelength; A is the total area of ​​the helical waveguide coil; c is the speed of light in vacuum; and Ω is the angular velocity to be detected.

[0155] It is worth noting that this invention uses both TE and TM polarization states and employs a polarization separation and rotation device to prevent reflected light from returning to the light source. Therefore, it eliminates the need for a circulator or 50 / 50 coupler, reducing additional link optical losses and thus improving the performance of the interferometric optical gyroscope. It also simplifies manufacturing, facilitates integration, and reduces costs.

[0156] In some embodiments, obtaining rotational speed information based on the synthesized light wave includes: obtaining the phase difference between the TE-mode and TM-mode polarized light waves based on the synthesized light wave; obtaining light intensity information based on the phase difference; and calculating the rotational speed information of the gyroscope based on the light intensity information.

[0157] Typically, systematic errors, drift, or disturbances can affect the performance stability of an optical gyroscope. Specifically, in this invention, because the effective refractive indices of the TE and TM modes are different, their values ​​may also differ with ambient temperature. The fixed phase difference φ0 between the TE and TM modes after passing through the helical waveguide coil may also drift over time. All of these factors are reflected in the φ0 term in the above formula.

[0158] To reduce or eliminate the influence of the environment on the fixed phase difference φ0, this embodiment can be further extended. Please refer to... Figure 12 , Figure 12 The structure contains two integrated interferometric optical gyroscopes, each with identical helical waveguide coils. The only difference is that the light input and output directions of the second integrated interferometric optical gyroscope are adjusted, so that the propagation directions of the TE-mode and TM-mode polarized light in both integrated interferometric optical gyroscopes are opposite to each other, propagating counterclockwise and clockwise respectively. Figure 12 The arrows surrounding TE and TM indicate this. Thus, in the second integrated interferometric optical gyroscope, the fixed phase difference produced by the TE and TM mode light after passing through the coils is opposite to that of the first integrated interferometric optical gyroscope, i.e., -φ0, while the phase difference generated by rotation is the same as that of the first integrated interferometric optical gyroscope, both being φ. r That is, the total phase change φ generated by the second integrated interferometric optical gyroscope. total ''satisfy:

[0159]

[0160] Where, n rff,TE and n eff,TM λ and t are the effective refractive indices of TE-mode polarized light and TM-mode polarized light in the helical waveguide coil, respectively; L is the total length of the helical coil; λ is the working wavelength; A is the total area of ​​the helical waveguide coil; c is the speed of light in vacuum; and Ω is the angular velocity to be detected.

[0161] Next, by averaging the phases generated by the two integrated interferometric optical gyroscopes, the φ0 term can be eliminated, thus eliminating the effects of system errors, drift, or disturbances. The two back-propagating beams experience different phase shifts φr, satisfying the following:

[0162]

[0163] Where λ is the operating wavelength, A is the total area of ​​the helical waveguide coil, c is the speed of light in vacuum, and Ω is the angular velocity to be detected.

[0164] like Figure 17 As shown, this integrated interferometric optical gyroscope can be integrated into an optical gyroscope system and work in conjunction with other components within the system. The optical gyroscope system includes: other optical components, peripheral circuitry, and mechanical packaging components. The other optical components include lenses, prisms, mirrors, isolators, optical coatings, fiber optic connections, and interfaces; the lenses include prisms. The peripheral circuitry includes a processor, controller, driver, signal acquisition unit, calibrator, and temperature sensor. The mechanical packaging components include a housing, base, gaskets, optical / electrical interface, shock absorber, and MEMS.

[0165] like Figure 18 As shown, the three optical gyroscope systems can be positioned in three directions to detect angular velocity information in three directions. Furthermore, the three optical gyroscope systems can also be used in conjunction with three external accelerometers to form an inertial sensing system.

[0166] The applications of this invention include, but are not limited to, smart wearable devices, autonomous robots, smart cities, transportation vehicles, and military facilities. The wearable devices include smartphones, smartwatches, smart headphones, and virtual reality / augmented reality headsets; the transportation vehicles include autonomous vehicles and aircraft.

[0167] While embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of the invention as set forth in the claims. Furthermore, the invention described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. An integrated interferometric optical gyroscope, characterized in that, include: The system comprises a light source module, a first coupling module, a second coupling module, at least two polarization separation and rotation modules, a photoelectric detection module, and a helical waveguide module. The first coupling module is used to split a beam of light emitted by the light source module into two beams; The two polarization separation rotating modules are respectively connected to the distal end and proximal end of the spiral waveguide module. They are used to convert the two light waves, which are both in the TE polarization state, into two polarization states, TE and TM, and send them to both ends of the spiral waveguide module so that they are transmitted in opposite directions in the spiral waveguide module. Then, the two light beams after passing through the spiral waveguide module are received and their polarization states are converted back to the same TE mode. The second coupling module is used to combine two beams of light output from the distal end and the proximal end into a single composite beam. The photoelectric detection module is connected to the second coupling module and is used to obtain the rotational speed information of the gyroscope based on the synthesized light wave.

2. The gyroscope according to claim 1, characterized in that, The polarization separation and rotation module is used to convert two beams of light waves with TE mode polarization into a beam of light waves with TE mode superimposed with TM mode polarization. Alternatively, the polarization separation and rotation module is used to convert a beam of light with TE mode superimposed with TM mode polarization into two beams of light with TE mode polarization. The spiral waveguide module supports the transmission of both TE-mode and TM-mode polarized light; within the same spiral waveguide module, the transmission directions of the TE-mode polarized light wave and the TM-mode polarized light wave are opposite.

3. The gyroscope according to claim 1, characterized in that, It also includes a polarization control module; The polarization control module is connected to at least one polarization separation and rotation module and is used to adjust or control the polarization mode of the light wave.

4. The gyroscope according to claim 1, characterized in that, It also includes a tunable light attenuation module; The adjustable light attenuation module is connected to the second coupling module and is used to adjust the intensity of the light waves on the two interference arms.

5. The gyroscope according to claim 1, characterized in that, It also includes a phase modulation module; The phase modulation module is connected to the first coupling module and at least one polarization separation and rotation module, respectively, and is used to modulate the phase of the light wave.

6. The gyroscope according to claim 1, characterized in that, It also includes delay lines; The delay line is connected to the light source module and the first coupling module respectively, and is used to delay the light wave.

7. The gyroscope according to claim 1, characterized in that, Both the first coupling module and the second coupling module are connected to a light source module and a photoelectric detection module.

8. An optical gyroscope assembly comprising the gyroscope according to any one of claims 1-7, characterized in that, The propagation directions of the TE-mode polarized light from the two gyroscopes are opposite to each other; the propagation directions of the TM-mode polarized light from the two gyroscopes are opposite to each other.

9. The component according to claim 8, characterized in that, The light source module and photoelectric detection module of the two gyroscopes are connected in opposite positions.

10. The component according to claim 8, characterized in that, The polarization separation rotation modules of the two gyroscopes have different port orientations.

11. The component according to claim 8 or 10, characterized in that, The two gyroscopes share the same light source module; a beam of light emitted by the light source module is split into four beams through a coupling module.

12. A method for calculating gyroscope rotation speed information, used to obtain rotation speed information using the gyroscope according to any one of claims 1-7, characterized in that, include: Split a beam of light into two beams of TE mode light; The two TE mode light waves are converted into one TE mode light wave and one TM mode light wave; Both the TE mode light wave and the TM mode light wave are transmitted via a helical waveguide module; The beam of TE mode light wave and the beam of TM mode light wave are converted into two beams of TE light waves and then combined into a single composite light wave. The light intensity information detected by the photoelectric detection module is calculated, and then the light intensity information is converted into total phase information to obtain the rotation speed information.

13. A method for calculating the rotational speed information of a gyroscope component, used to obtain rotational speed information through the gyroscope component according to any one of claims 8-11, characterized in that, include: In each gyroscope, a beam of light is split into two beams of TE mode light waves; The two TE mode light waves are converted into one TE mode light wave and one TM mode light wave; The TE mode light wave and the TM mode light wave are transmitted through the spiral waveguide modules of the two gyroscopes respectively, and the TE mode light wave and the TM mode light wave are in opposite directions in the spiral waveguide modules of the two gyroscopes. The beam of TE mode light wave and the beam of TM mode light wave are converted into two beams of TE light waves and then combined into a single composite light wave. Calculate the first light intensity information detected by the photoelectric detection module of the first gyroscope, and convert the first light intensity information into the first total phase information; The second light intensity information detected by the photoelectric detection module of the second gyroscope is calculated and converted into the second total phase information; the first total phase information and the second total phase information are averaged to obtain the rotation speed information.

14. An interferometric optical gyroscope system, characterized in that, It includes peripheral circuitry, mechanical packaging components, other optical components, and a gyroscope as described in any one of claims 1-7 or a gyroscope assembly as described in any one of claims 8-11; The peripheral circuitry includes at least one of a processor, controller, driver, signal acquisition unit, calibrator, and temperature sensor. The mechanical packaging component includes at least one of a housing, a base, a gasket, an optical / electrical interface, a shock absorber, and a MEMS. The other optical components include at least one of lenses, prisms, mirrors, isolators, optical coatings, fiber optic cables, and interfaces.

15. The interferometric optical gyroscope system according to claim 14, characterized in that, The three optical gyroscope systems are placed in three directions to detect angular velocity information in three directions; the three optical gyroscope systems are combined with three external accelerometers to form an inertial sensing system.

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