A control device and control method for realizing large starting angular velocity of a fiber-optic gyroscope

Abstract

The application relates to a control device and a control method for realizing a large starting angular velocity of an optical fiber gyroscope, and belongs to the technical field of optical fiber gyroscopes. The application solves the problems that the precision and reliability of the existing large starting angular velocity optical fiber gyroscope are low, and the existing optical fiber gyroscope is difficult to be compatible with the size. The application comprises an optical fiber gyroscope, a first MEMS gyroscope and a second MEMS gyroscope, which are used for measuring the angular velocity when an external carrier rotates, and outputting the angular velocity signal to a gyroscope signal processing circuit; the gyroscope signal processing circuit is used for processing the optical fiber gyroscope angular velocity signal, the first MEMS gyroscope angular velocity signal and the second MEMS gyroscope angular velocity signal respectively, obtaining the optical fiber gyroscope angular velocity, the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data; and an algorithm module is used for correcting the optical fiber gyroscope angular velocity by using the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data, and taking the corrected angular velocity as the output angular velocity of the optical fiber gyroscope.

Description

Technical Field

[0001] This invention relates to the field of fiber optic gyroscope technology, and in particular to a control device and control method for achieving a large starting angular velocity of a fiber optic gyroscope. Background Technology

[0002] A fiber optic gyroscope is an angular velocity sensor based on the Sagnac effect. Compared with traditional gyroscopes, it has advantages such as high accuracy, small size, and low cost, and is therefore increasingly widely used in military and civilian fields. According to the Sagnac principle, the angular velocity of a fiber optic gyroscope is proportional to the phase difference only within a ±π phase range. The input range for the activation angular rate Ω is: In the formula, L is the length of the sensitive fiber in the fiber optic ring, d is the average diameter of the fiber optic ring, and λ is the wavelength of light. Fiber optic gyroscopes exhibit output polarity reversal in some angular velocity ranges outside this measurement range, manifesting as abnormal output when starting at angular velocities outside the measurement range. As can be seen from the above formula, the starting angular rate of a fiber optic gyroscope is inversely proportional to the size of the fiber optic ring; that is, the larger the fiber optic ring size, the smaller the starting angular rate. However, the accuracy of a fiber optic gyroscope is directly proportional to the size of the fiber optic ring. This significantly limits the application of high-precision gyroscopes due to their measurement range limitations.

[0003] Currently, a single auxiliary gyroscope is typically used to achieve a large angular rate dynamic range for the gyroscope. However, this approach presents several problems in practical applications: First, relying solely on an auxiliary gyroscope for angular rate expansion is unreliable; a malfunction in the auxiliary gyroscope can lead to abnormal angular rate discrimination in the assisted gyroscope. Second, due to differences in scaling factors and stability between the auxiliary and assisted gyroscopes, starting near the odd-numbered multiples of π phase of the assisted gyroscope can cause misjudgments of fringe order. Third, regardless of whether an auxiliary fiber optic gyroscope or a non-chip MEMS gyroscope is used, their size is relatively large, making them difficult to apply to gyroscopes with dimensions of 98mm or smaller.

[0004] Therefore, existing fiber optic gyroscopes with large start-up angular velocities have low accuracy and reliability, are difficult to be compatible with the size of existing fiber optic gyroscopes, and are difficult to apply in practice. Summary of the Invention

[0005] Based on the above analysis, the present invention aims to provide a control device and control method for realizing a large start-up angular velocity of a fiber optic gyroscope, in order to solve the problems of low accuracy and reliability of existing large start-up angular velocity fiber optic gyroscopes and difficulty in being compatible with the size of existing fiber optic gyroscopes.

[0006] On one hand, embodiments of the present invention provide a control device for realizing a large start-up angular velocity of a fiber optic gyroscope, including a fiber optic gyroscope, a first MEMS gyroscope, a second MEMS gyroscope, a gyroscope signal processing circuit, and an algorithm module;

[0007] The fiber optic gyroscope, the first MEMS gyroscope, and the second MEMS gyroscope are used to measure the angular velocity of the external carrier during rotation and output the angular velocity signal to the gyroscope signal processing circuit.

[0008] The gyroscope signal processing circuit is used to process the fiber optic gyroscope angular velocity signal, the first MEMS gyroscope angular velocity signal, and the second MEMS gyroscope angular velocity signal respectively to obtain fiber optic gyroscope angular velocity, first MEMS gyroscope angular velocity data, and second MEMS gyroscope angular velocity data.

[0009] The algorithm module is used to correct the angular velocity of the fiber optic gyroscope using the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data, and use the corrected angular velocity as the output angular velocity of the fiber optic gyroscope.

[0010] The gyroscope signal processing circuit is also used to obtain the output angular velocity of the fiber optic gyroscope, process it, and output it to the fiber optic gyroscope so that the fiber optic gyroscope returns to the zero-phase state.

[0011] Furthermore, the algorithm module includes a gyroscope signal processor, which corrects the angular velocity of the fiber optic gyroscope in the following manner:

[0012] Determine whether the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data are correct. If both are correct, obtain the average of the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data, filter it, and use it as the third angular velocity data. If one of them is incorrect, filter the correct angular velocity data and use it as the third angular velocity data. If both are incorrect, determine that the data is abnormal.

[0013] Based on the third angular velocity data and the starting angular velocity of the fiber optic gyroscope, the corrected angular velocity of the fiber optic gyroscope is obtained.

[0014] Furthermore, the correctness of the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data is determined by the following method:

[0015] If the first MEMS gyroscope angular velocity data is the same as or differs from the fiber optic gyroscope angular velocity by an even multiple of the fringe corresponding to the fiber optic gyroscope, but differs from the second MEMS gyroscope angular velocity data by a preset threshold D, then the second MEMS gyroscope angular velocity data is incorrect.

[0016] If the second MEMS gyroscope angular velocity data is the same as or differs from the fiber optic gyroscope angular velocity by an even multiple of the fringe corresponding to the fiber optic gyroscope, but differs from the first MEMS gyroscope angular velocity data by a preset threshold D, then the first MEMS gyroscope angular velocity data is incorrect.

[0017] If the output of the first MEMS gyroscope angular velocity data is the same as that of the second MEMS gyroscope angular velocity data, then both the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data are correct.

[0018] Otherwise, the outputs of the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data will both be incorrect.

[0019] Furthermore, the data based on the third angular velocity Ω MC To obtain the corrected angular velocity of the fiber optic gyroscope, based on its initial angular velocity Ωπ, the following steps are included:

[0020] If |Ω MC |≤|Ω π If the current fiber optic gyroscope angular velocity is used as the corrected fiber optic gyroscope angular velocity, then the third angular velocity Ω is used as the corrected angular velocity. MC The corresponding fiber optic gyroscope fringe order N is used to perform the first closed-loop correction of the fiber optic gyroscope based on the fringe order.

[0021] Obtain the first angular velocity data Ω of the fiber optic gyroscope after the first loop reclosure. F1 If |Ω MC -Ω F1 If |≤D, then the first angular velocity data Ω of the fiber optic gyroscope will be used. F1 The corrected fiber optic gyroscope angular velocity is used; otherwise, the third angular velocity Ω is used. MC The corresponding fiber optic gyroscope fringe order is N-1, and the fiber optic gyroscope performs a second closed-loop correction based on this fringe order.

[0022] Obtain the second angular velocity data Ω of the fiber optic gyroscope after the second loop closure. F2 If |Ω MC -Ω F2 If |≤D, then the second angular velocity data Ω of the fiber optic gyroscope will be used. F2 The corrected fiber optic gyroscope angular velocity is used; otherwise, the third angular velocity Ω is used. MC The corresponding fiber optic gyroscope fringe order is N+1, and the fiber optic gyroscope performs a third closed-loop correction based on this fringe order.

[0023] Obtain the third angular velocity data Ω of the fiber optic gyroscope after the third loop reclosure. F3 And the third angular velocity data Ω of the fiber optic gyroscope F3 As the corrected fiber optic gyroscope angular velocity;

[0024] During the re-loop correction, the third angular velocity data Ω is used. MC As the corrected fiber optic gyroscope angular velocity.

[0025] Furthermore, the preset threshold D is taken as half of the starting angular velocity value of the fiber optic gyroscope.

[0026] Furthermore, the fiber optic gyroscope includes a light source, a coupler, a Y-waveguide, a fiber optic loop, and a detector;

[0027] The light source, coupler, Y-waveguide, and fiber optic ring are connected in sequence. When the external carrier rotates, the light emitted by the light source enters the Y-waveguide through the coupler. Under the action of the Y-waveguide, it is split into two beams of light in the clockwise and counterclockwise directions and enters the fiber optic ring. A Sagnac phase shift proportional to the angular velocity of the fiber optic ring is generated between the two beams of light that propagate clockwise and counterclockwise, which causes the intensity signal of the emitted light to change.

[0028] The detector is connected to the coupler. The detector receives the light intensity signal and converts it into a voltage signal. The voltage signal serves as the angular velocity signal of the fiber optic gyroscope.

[0029] The Y-waveguide also receives the processed angular velocity analog signal output by the gyroscope signal processing circuit, so as to restore the fiber optic gyroscope to the zero-phase state.

[0030] Furthermore, the gyroscope signal processing circuit includes a pre-stage operational amplifier, an A / D converter, a post-stage operational amplifier, a D / A converter, a fiber optic gyroscope signal demodulator, a first MEMS gyroscope signal acquisition unit, and a second MEMS gyroscope signal acquisition unit.

[0031] The preamplifier is connected to the fiber optic gyroscope to receive the fiber optic gyroscope angular velocity signal and amplify and filter it; it is also connected in sequence to the A / D converter and the fiber optic gyroscope signal demodulator. The A / D converter converts the processed fiber optic gyroscope angular velocity signal into a digital signal, and the fiber optic gyroscope signal demodulates the fiber optic gyroscope angular velocity.

[0032] The first MEMS gyroscope signal acquisition unit is connected to the first MEMS gyroscope, and the second MEMS gyroscope B signal acquisition unit is connected to the second MEMS gyroscope. They are respectively used to acquire the first MEMS gyroscope angular velocity signal and the second MEMS gyroscope angular velocity signal generated by the first MEMS gyroscope and the second MEMS gyroscope based on the rotation of the external carrier, as the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data.

[0033] The D / A converter is connected to the subsequent operational amplifier. The D / A converter receives the angular velocity output by the algorithm module and converts it into an analog signal, which is then amplified by the subsequent operational amplifier and output to the fiber optic gyroscope.

[0034] Furthermore, the algorithm module also includes a gyroscope signal synchronizer;

[0035] Before correcting the fiber optic gyroscope angular velocity using a gyroscope signal processor, the fiber optic gyroscope angular velocity, the first MEMS gyroscope angular velocity data, and the second MEMS gyroscope angular velocity data are synchronized in time using a gyroscope signal synchronizer. The time-synchronized fiber optic gyroscope angular velocity, the first MEMS gyroscope angular velocity data, and the second MEMS gyroscope angular velocity data are then output to the fiber optic gyroscope signal processor.

[0036] Furthermore, both the first MEMS gyroscope and the second MEMS gyroscope are chip-type MEMS gyroscopes with dimensions less than 11mm × 11mm × 3mm.

[0037] On the other hand, embodiments of the present invention provide a control method for achieving a large start-up angular velocity of a fiber optic gyroscope, comprising the following steps:

[0038] The angular velocity signal of the external carrier during rotation is obtained by fiber optic gyroscope, first MEMS gyroscope and second MEMS gyroscope.

[0039] The acquired fiber optic gyroscope angular velocity signal, the first MEMS gyroscope angular velocity signal, and the second MEMS gyroscope angular velocity signal are processed respectively to obtain fiber optic gyroscope angular velocity data, first MEMS gyroscope angular velocity data, and second MEMS gyroscope angular velocity data.

[0040] The angular velocity of the fiber optic gyroscope is corrected using the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data, and the corrected angular velocity is used as the output angular velocity of the fiber optic gyroscope.

[0041] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0042] This invention proposes a control device and method for achieving a large start-up angular velocity in a fiber optic gyroscope.

[0043] 1. By adopting a redundant design with two MEMS gyroscopes to collect two angular velocity data, the angular velocity of the fiber optic gyroscope is corrected, which avoids abnormal output of the fiber optic gyroscope due to abnormal data of one of them, thus improving the reliability of the fiber optic gyroscope.

[0044] 2. By correcting the angular velocity data of the fiber optic gyroscope using two angular velocity data points, the fiber optic gyroscope can be started normally at any angular velocity point across the entire rate range;

[0045] 3. Applicable to any high-precision fiber optic gyroscope with a size of 70mm or larger, it can achieve a start-up angular rate of over 1000° / s without changing the size and structure, making it more adaptable.

[0046] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0047] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0048] Figure 1 This is a schematic diagram of the control device for realizing a large start-up angular velocity of a fiber optic gyroscope provided in Embodiment 1 of the present invention;

[0049] Figure 2 This is a flowchart illustrating the control method for achieving a large start-up angular velocity of a fiber optic gyroscope provided in Embodiment 2 of the present invention.

[0050] Figure label:

[0051] 1-Light source, 2-Coupled, 3-Y waveguide, 4-Fiber optic ring, 5-Detector, 6-Pre-amplifier, 7-A / D converter, 8-First MEMS gyroscope, 9-Second MEMS gyroscope, 10-Fiber optic gyroscope signal demodulator, 11-First MEMS gyroscope signal acquisition unit, 12-Second MEMS gyroscope signal acquisition unit, 13-Gyroscope signal synchronizer, 14-Gyroscope signal processor, 15-D / A converter, 16-Post-amplifier. Detailed Implementation

[0052] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0053] Example 1

[0054] A specific embodiment of the present invention discloses a control device for achieving a large start-up angular velocity of a fiber optic gyroscope, such as... Figure 1 As shown, it includes a fiber optic gyroscope, a first MEMS gyroscope 8, a second MEMS gyroscope 9, a gyroscope signal processing circuit, and an algorithm module;

[0055] The fiber optic gyroscope, the first MEMS gyroscope 8, and the second MEMS gyroscope 9 are used to measure the angular velocity of the external carrier during rotation and output the angular velocity signal to the gyroscope signal processing circuit.

[0056] The gyroscope signal processing circuit is used to process the fiber optic gyroscope angular velocity signal, the first MEMS gyroscope angular velocity signal, and the second MEMS gyroscope angular velocity signal respectively to obtain fiber optic gyroscope angular velocity, first MEMS gyroscope angular velocity data, and second MEMS gyroscope angular velocity data.

[0057] The algorithm module is used to correct the angular velocity of the fiber optic gyroscope using the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data, and use the corrected angular velocity as the output angular velocity of the fiber optic gyroscope.

[0058] The gyroscope signal processing circuit is also used to obtain the output angular velocity of the fiber optic gyroscope, process it, and output it to the fiber optic gyroscope so that the fiber optic gyroscope returns to the zero-phase state.

[0059] Compared with the prior art, the control device for realizing a large start-up angular velocity of a fiber optic gyroscope provided in this embodiment adopts a redundant design of two MEMS gyroscopes to collect two angular velocity data to correct the angular velocity of the fiber optic gyroscope, avoiding abnormal output of the fiber optic gyroscope due to abnormal data of one of them, thus improving the reliability of the fiber optic gyroscope; by correcting the angular velocity data of the fiber optic gyroscope with two angular velocity data, the fiber optic gyroscope can start normally at any angular velocity point in the full rate range.

[0060] In implementation, the algorithm module includes a gyroscope signal processor, which corrects the angular velocity of the fiber optic gyroscope in the following manner:

[0061] Determine whether the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data are correct. If both are correct, obtain the average of the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data, filter it, and use it as the third angular velocity data. If one of them is incorrect, filter the correct angular velocity data and use it as the third angular velocity data. If both are incorrect, determine that the data is abnormal.

[0062] Based on the third angular velocity data and the starting angular velocity of the fiber optic gyroscope, the corrected angular velocity of the fiber optic gyroscope is obtained.

[0063] In practice, the correctness of the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data is determined using the following methods:

[0064] If the first MEMS gyroscope angular velocity data is the same as or differs from the fiber optic gyroscope angular velocity by an even multiple of the fringe corresponding to the fiber optic gyroscope angular velocity, but differs from the second MEMS gyroscope angular velocity data by a preset threshold D, then the second MEMS gyroscope angular velocity data is incorrect, i.e., the second MEMS gyroscope has malfunctioned.

[0065] If the second MEMS gyroscope angular velocity data is the same as or differs from the fiber optic gyroscope angular velocity by an even multiple of the fringe corresponding to the fiber optic gyroscope angular velocity, but differs from the first MEMS gyroscope angular velocity data by a preset threshold D, then the first MEMS gyroscope angular velocity data is incorrect, i.e., the first MEMS gyroscope has malfunctioned.

[0066] If the output of the first MEMS gyroscope angular velocity data is the same as that of the second MEMS gyroscope angular velocity data, then both the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data are correct.

[0067] Otherwise, if both the first and second MEMS gyroscope angular velocity data outputs are incorrect, it indicates that both the first and second MEMS gyroscopes have malfunctioned. A fault code will be output when a MEMS gyroscope malfunction is detected.

[0068] Understandably, by setting up a redundant design with two MEMS gyroscopes, the other working gyroscope can be used to perform subsequent work when one gyroscope is damaged or malfunctions, thus avoiding reliance on a single gyroscope and preventing abnormal output of the fiber optic gyroscope, thereby improving the reliability of the fiber optic gyroscope.

[0069] In specific implementation, the third angular velocity data Ω MC The starting angular velocity Ω of the fiber optic gyroscope π To obtain the corrected fiber optic gyroscope angular velocity, the following steps are included:

[0070] If |Ω MC |≤|Ω π |, then the current fiber optic gyroscope angular velocity is taken as the corrected fiber optic gyroscope angular velocity, i.e., the third angular velocity data Ω. MC Within one fringe, the current fiber optic gyroscope angular velocity is accurate and requires no additional correction; otherwise, the third angular velocity Ω is checked. MC The corresponding fiber optic gyroscope fringe order N is used to perform the first closed-loop correction of the fiber optic gyroscope based on the fringe order.

[0071] Obtain the first angular velocity data Ω of the fiber optic gyroscope after the first loop reclosure. F1 If |Ω MC -Ω F1 If |≤D, then the first angular velocity data Ω of the fiber optic gyroscope will be used. F1 The corrected fiber optic gyroscope angular velocity is used; otherwise, the third angular velocity Ω is used. MC The corresponding fiber optic gyroscope fringe order is N-1, and the fiber optic gyroscope performs a second closed-loop correction based on this fringe order.

[0072] Obtain the second angular velocity data Ω of the fiber optic gyroscope after the second loop closure. F2 If |Ω MC-Ω F2 If |≤D, then the second angular velocity data Ω of the fiber optic gyroscope will be used. F2 The corrected fiber optic gyroscope angular velocity is used; otherwise, the third angular velocity Ω is used. MC The corresponding fiber optic gyroscope fringe order is N+1, and the fiber optic gyroscope performs a third closed-loop correction based on this fringe order.

[0073] Obtain the third angular velocity data Ω of the fiber optic gyroscope after the third loop reclosure. F3 And the third angular velocity data Ω of the fiber optic gyroscope F3 As the corrected fiber optic gyroscope angular velocity;

[0074] During the re-loop correction, the third angular velocity data Ω is used. MC As the corrected fiber optic gyroscope angular velocity.

[0075] Specifically, the gyroscope signal processor includes a fiber optic gyroscope register to store the stripe data corresponding to integer multiples of the fiber optic gyroscope stripes. When the fiber optic gyroscope recloses the loop at the Nth level stripe, the register is set to 2Nπ to allow the gyroscope to continue execution under the corresponding stripe data. When the fiber optic gyroscope recloses the loop at the N-1 level stripe, the register is set to 2(N-1)π to allow the gyroscope to continue execution under the corresponding stripe data. When the fiber optic gyroscope recloses the loop at the N-1 level stripe, the register is set to 2(N+1)π to allow the gyroscope to continue execution under the corresponding stripe data.

[0076] Understandably, through the above three re-loop corrections, the starting angular velocity of the high-precision fiber optic gyroscope can be increased from below 100° / s to 1000° / s, while ensuring the normal output of the fiber optic gyroscope across the entire rate range.

[0077] Preferably, the preset threshold D is half the starting angular velocity value of the fiber optic gyroscope, i.e.

[0078] In practice, the fiber optic gyroscope includes a light source 1, a coupler 2, a Y-waveguide 3, a fiber optic loop 4, and a detector 5;

[0079] The light source 1, coupler 2, Y waveguide 3, and fiber ring 4 are connected in sequence. When the external carrier rotates, the light emitted by the light source 1 enters the Y waveguide 3 through the coupler 2. Under the action of the Y waveguide 3, it is split into two beams of light in the clockwise and counterclockwise directions and enters the fiber ring 4. A Sagnac phase shift proportional to the angular velocity of the fiber ring 4 is generated between the two beams of light that propagate clockwise and counterclockwise, which causes the intensity signal of the emitted light to change.

[0080] The detector 5 is connected to the coupler 2. The detector 5 receives the light intensity signal and converts it into a voltage signal. The voltage signal serves as the angular velocity signal of the fiber optic gyroscope.

[0081] Specifically, the phase-shifted optical signal is transmitted from the fiber ring 4 to the coupler 2 via the Y-waveguide, and then the detector 5 senses the changing light intensity signal for further processing.

[0082] The Y-waveguide 3 also receives the processed angular velocity analog signal output by the gyroscope signal processing circuit, so as to restore the fiber optic gyroscope to the zero-phase state.

[0083] Specifically, coupler 2 combines the optical signal input to detector 5. Preferably, the splitting ratio of coupler 2 is 1:1, which ensures better light intensity sensing on detector 5 and guarantees the performance of the fiber optic gyroscope.

[0084] Understandably, the fiber optic gyroscope is responsible for converting the motion information of the external sensitive carrier into a stable voltage signal, and at the same time modulating the interference light according to the feedback information of the algorithm module.

[0085] In implementation, the gyroscope signal processing circuit includes a pre-stage operational amplifier 6, an A / D converter 7, a D / A converter 15, a post-stage operational amplifier 16, a fiber optic gyroscope signal demodulator 10, a first MEMS gyroscope signal acquisition unit 11, and a second MEMS gyroscope signal acquisition unit 12.

[0086] The preamplifier 6 is connected to the fiber optic gyroscope and is used to receive the fiber optic gyroscope angular velocity signal and amplify and filter it; it is also connected in sequence to the A / D converter 7 and the fiber optic gyroscope signal demodulator 10. The A / D converter 7 converts the processed fiber optic gyroscope angular velocity signal into a digital signal, and then the fiber optic gyroscope signal demodulator 10 demodulates the fiber optic gyroscope angular velocity.

[0087] The first MEMS gyroscope signal acquisition unit 11 is connected to the first MEMS gyroscope 8, and the second MEMS gyroscope signal acquisition unit 12 is connected to the second MEMS gyroscope 9. They are used to acquire the first MEMS gyroscope angular velocity signal and the second MEMS gyroscope angular velocity signal generated by the first MEMS gyroscope 8 and the second MEMS gyroscope 9 based on the rotation of the external carrier, respectively, as the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data. The first MEMS gyroscope signal acquisition unit 11 and the first MEMS gyroscope signal acquisition unit 12 acquire the angular velocity data through corresponding interface protocols.

[0088] The D / A converter 15 is connected to the subsequent operational amplifier 16. The D / A converter 15 receives the angular velocity output by the algorithm module and converts it into an analog signal, which is then amplified by the subsequent operational amplifier 16 and output to the fiber optic gyroscope. It can be understood that the amplified analog signal is applied to the Y-waveguide 3 of the fiber optic gyroscope to compensate for the Sagnac phase shift, restoring the gyroscope to a zero-phase state.

[0089] Preferably, the algorithm module further includes a gyroscope signal synchronizer 13;

[0090] Before correcting the fiber optic gyroscope angular velocity using the gyroscope signal processor 14, the fiber optic gyroscope angular velocity, the first MEMS gyroscope angular velocity data, and the second MEMS gyroscope angular velocity data are synchronized in time using the gyroscope signal synchronizer 13. The synchronized fiber optic gyroscope angular velocity, the first MEMS gyroscope angular velocity data, and the second MEMS gyroscope angular velocity data are then output to the fiber optic gyroscope signal processor 14. Specifically, during application in the control device, the time delay of each gyroscope output (i.e., the calibration value) can be obtained based on the actual conditions of the first MEMS gyroscope 8 and the second MEMS gyroscope 9, thereby achieving time synchronization of the fiber optic gyroscope angular velocity, the first MEMS gyroscope angular velocity data, and the second MEMS gyroscope angular velocity data.

[0091] In implementation, both the first MEMS gyroscope 8 and the second MEMS gyroscope 9 are chip-type MEMS gyroscopes with dimensions less than 11mm × 11mm × 3mm. The dynamic range of the MEMS gyroscope is greater than 1000° / s, the data update rate is less than 4KHz, and the operating temperature range meets the operating temperature requirements of fiber optic gyroscopes. This requirement allows two MEMS gyroscopes to be installed on the main control circuit board of fiber optic gyroscopes with dimensions of 70mm and above. It is suitable for any high-precision fiber optic gyroscope with a size of 70mm or above. Without changing the size and structure, a start-up angular rate of more than 1000° / s can be achieved, making it more adaptable.

[0092] Example 2

[0093] A specific embodiment of the present invention discloses a control method for achieving a large start-up angular velocity of a fiber optic gyroscope, such as... Figure 2 As shown, it includes the following steps:

[0094] The angular velocity signal of the external carrier during rotation is obtained by fiber optic gyroscope, first MEMS gyroscope and second MEMS gyroscope.

[0095] The acquired fiber optic gyroscope angular velocity signal, the first MEMS gyroscope angular velocity signal, and the second MEMS gyroscope angular velocity signal are processed respectively to obtain fiber optic gyroscope angular velocity data, first MEMS gyroscope angular velocity data, and second MEMS gyroscope angular velocity data.

[0096] The angular velocity of the fiber optic gyroscope is corrected using the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data, and the corrected angular velocity is used as the output angular velocity of the fiber optic gyroscope.

[0097] The specific implementation process of this invention can be found in the above-described device embodiments, and will not be repeated here.

[0098] Since this embodiment is based on the same principle as the above-described device embodiment, this method also has the corresponding technical effects of the above-described method embodiment.

[0099] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0100] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A control device for achieving a large starting angular velocity of a fiber optic gyroscope, characterized in that, It includes a fiber optic gyroscope, a first MEMS gyroscope, a second MEMS gyroscope, a gyroscope signal processing circuit, and an algorithm module; The fiber optic gyroscope, the first MEMS gyroscope, and the second MEMS gyroscope are used to measure the angular velocity of the external carrier during rotation and output the angular velocity signal to the gyroscope signal processing circuit. The gyroscope signal processing circuit is used to process the fiber optic gyroscope angular velocity signal, the first MEMS gyroscope angular velocity signal, and the second MEMS gyroscope angular velocity signal respectively to obtain fiber optic gyroscope angular velocity, first MEMS gyroscope angular velocity data, and second MEMS gyroscope angular velocity data. The algorithm module is used to correct the angular velocity of the fiber optic gyroscope using the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data, and use the corrected angular velocity as the output angular velocity of the fiber optic gyroscope. The gyroscope signal processing circuit is also used to obtain the output angular velocity of the fiber optic gyroscope, process it, and output it to the fiber optic gyroscope so that the fiber optic gyroscope returns to the zero-phase state. The algorithm module includes a gyroscope signal processor, which corrects the angular velocity of the fiber optic gyroscope in the following manner: Determine whether the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data are correct. If both are correct, obtain the average of the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data, filter it, and use it as the third angular velocity data. If one of them is incorrect, filter the correct angular velocity data and use it as the third angular velocity data. If both are incorrect, determine that the data is abnormal. Based on the aforementioned third angular velocity data Ω MC The starting angular velocity Ω of the fiber optic gyroscope π To obtain the corrected fiber optic gyroscope angular velocity, the following steps are included: If |Ω MC |≤|Ω π If the current fiber optic gyroscope angular velocity is used as the corrected fiber optic gyroscope angular velocity, then the third angular velocity Ω is used as the corrected angular velocity. MC The corresponding fiber optic gyroscope fringe order N is used to perform the first closed-loop correction of the fiber optic gyroscope based on the fringe order. Obtain the first angular velocity data Ω of the fiber optic gyroscope after the first loop reclosure. F1 If |Ω MC -Ω F1 If |≤D, then the first angular velocity data Ω of the fiber optic gyroscope will be used. F1 The corrected fiber optic gyroscope angular velocity is used; otherwise, the third angular velocity Ω is used. MC The corresponding fiber optic gyroscope fringe order is N-1. The fiber optic gyroscope performs a second closed-loop correction based on this fringe order; where D represents the preset threshold. Obtain the second angular velocity data Ω of the fiber optic gyroscope after the second loop closure. F2 If |Ω MC -Ω F2 If |≤D, then the second angular velocity data Ω of the fiber optic gyroscope will be used. F2 The corrected angular velocity of the fiber optic gyroscope is used; otherwise, the third angular velocity Ω is determined. MC The corresponding fiber optic gyroscope fringe order is N+1, and the fiber optic gyroscope performs a third closed-loop correction based on this fringe order. Obtain the third angular velocity data Ω of the fiber optic gyroscope after the third loop reclosure. F3 And the third angular velocity data Ω of the fiber optic gyroscope F3 As the corrected fiber optic gyroscope angular velocity; During the re-loop correction, the third angular velocity data Ω is used. MC As the corrected fiber optic gyroscope angular velocity; The gyroscope signal processor is equipped with a fiber optic gyroscope register, which is used to store the stripe data corresponding to integer multiples of the stripes of the fiber optic gyroscope.

2. The control device for realizing a large start-up angular velocity of a fiber optic gyroscope according to claim 1, characterized in that, The following methods are used to determine whether the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data are correct: If the first MEMS gyroscope angular velocity data is the same as or differs from the fiber optic gyroscope angular velocity by an even multiple of the fringe corresponding to the fiber optic gyroscope, but differs from the second MEMS gyroscope angular velocity data by a preset threshold D, then the second MEMS gyroscope angular velocity data is incorrect. If the second MEMS gyroscope angular velocity data is the same as or differs from the fiber optic gyroscope angular velocity by an even multiple of the fringe corresponding to the fiber optic gyroscope, but differs from the first MEMS gyroscope angular velocity data by a preset threshold D, then the first MEMS gyroscope angular velocity data is incorrect. If the output of the first MEMS gyroscope angular velocity data is the same as that of the second MEMS gyroscope angular velocity data, then both the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data are correct. Otherwise, the outputs of the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data will both be incorrect.

3. The control device for realizing a large starting angular velocity of a fiber optic gyroscope according to claim 2, characterized in that, The preset threshold D is half of the starting angular velocity value of the fiber optic gyroscope.

4. The control device for realizing a large starting angular velocity of a fiber optic gyroscope according to claim 1, characterized in that, The fiber optic gyroscope includes a light source, a coupler, a Y-waveguide, a fiber optic loop, and a detector; The light source, coupler, Y-waveguide, and fiber optic ring are connected in sequence. When the external carrier rotates, the light emitted by the light source enters the Y-waveguide through the coupler. Under the action of the Y-waveguide, it is split into two beams of light in the clockwise and counterclockwise directions and enters the fiber optic ring. A Sagnac phase shift proportional to the angular velocity of the fiber optic ring is generated between the two beams of light that propagate clockwise and counterclockwise, which causes the intensity signal of the emitted light to change. The detector is connected to the coupler. The detector receives the light intensity signal and converts it into a voltage signal. The voltage signal serves as the angular velocity signal of the fiber optic gyroscope. The Y-waveguide also receives the processed angular velocity analog signal output by the gyroscope signal processing circuit, so as to restore the fiber optic gyroscope to the zero-phase state.

5. The control device for realizing a large starting angular velocity of a fiber optic gyroscope according to claim 1, characterized in that, The gyroscope signal processing circuit includes a pre-amplifier, an A / D converter, a post-amplifier, a D / A converter, a fiber optic gyroscope signal demodulator, a first MEMS gyroscope signal acquisition unit, and a second MEMS gyroscope signal acquisition unit. The preamplifier is connected to the fiber optic gyroscope to receive the fiber optic gyroscope angular velocity signal and amplify and filter it; it is also connected in sequence to the A / D converter and the fiber optic gyroscope signal demodulator. The A / D converter converts the processed fiber optic gyroscope angular velocity signal into a digital signal, and the fiber optic gyroscope signal demodulates the fiber optic gyroscope angular velocity. The first MEMS gyroscope signal acquisition unit is connected to the first MEMS gyroscope, and the second MEMS gyroscope signal acquisition unit is connected to the second MEMS gyroscope. They are respectively used to acquire the first MEMS gyroscope angular velocity signal and the second MEMS gyroscope angular velocity signal generated by the first MEMS gyroscope and the second MEMS gyroscope based on the rotation of the external carrier, as the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data. The D / A converter is connected to the subsequent operational amplifier. The D / A converter receives the angular velocity output by the algorithm module and converts it into an analog signal, which is then amplified by the subsequent operational amplifier and output to the fiber optic gyroscope.

6. The control device for realizing a large start-up angular velocity of a fiber optic gyroscope according to claim 1, characterized in that, The algorithm module also includes a gyroscope signal synchronizer; Before correcting the fiber optic gyroscope angular velocity using a gyroscope signal processor, the fiber optic gyroscope angular velocity, the first MEMS gyroscope angular velocity data, and the second MEMS gyroscope angular velocity data are synchronized in time using a gyroscope signal synchronizer. The time-synchronized fiber optic gyroscope angular velocity, the first MEMS gyroscope angular velocity data, and the second MEMS gyroscope angular velocity data are then output to the fiber optic gyroscope signal processor.

7. The control device for realizing a large starting angular velocity of a fiber optic gyroscope according to claim 1, characterized in that, Both the first MEMS gyroscope and the second MEMS gyroscope are chip-type MEMS gyroscopes with dimensions less than 11mm × 11mm × 3mm.

8. A control method for achieving a large start-up angular velocity of a fiber optic gyroscope based on the control device for achieving a large start-up angular velocity of a fiber optic gyroscope according to any one of claims 1-7, characterized in that, Includes the following steps: The angular velocity signal of the external carrier during rotation is obtained by fiber optic gyroscope, first MEMS gyroscope and second MEMS gyroscope. The acquired fiber optic gyroscope angular velocity signal, the first MEMS gyroscope angular velocity signal, and the second MEMS gyroscope angular velocity signal are processed respectively to obtain fiber optic gyroscope angular velocity data, first MEMS gyroscope angular velocity data, and second MEMS gyroscope angular velocity data. The angular velocity of the fiber optic gyroscope is corrected using the first MEMS gyroscope angular velocity data and the second MEMS gyroscope angular velocity data, and the corrected angular velocity is used as the output angular velocity of the fiber optic gyroscope.

Images