Laser gyroscope signal detection optimization system and method based on spatial resolution

Abstract

The invention discloses a laser gyroscope signal detection optimization system and method based on spatial resolution, the system comprises a laser gyroscope, a beam shaping module, an APD array, a transimpedance amplifier, a data acquisition card and a computer, the APD array is composed of a plurality of pixels, and can perform high-resolution detection on spatial distribution of a light combination signal, and the data acquisition card is used for data acquisition. Therefore, more accurate light intensity distribution and phase information can be obtained. According to the method, optical transformation and spatial resolution detection principles are combined, a multi-information fusion thought is referred, the laser gyroscope output signal detection optimization method is provided, the signal-to-noise ratio of laser gyroscope output beat frequency signal detection is effectively improved, and the method is of great significance to further improvement and breakthrough of the measurement performance of the laser gyroscope.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of optoelectronic devices, and in particular to an optimized system and method for detecting laser gyro signals based on spatial resolution. Background Art

[0002] As a typical application of the Sagnac effect in the field of inertial navigation, the laser gyro can accurately measure the angular velocity without the condition of inertial mass, bringing a disruptive revolution to the fields of ultra-precise inertial navigation and attitude control, etc., and becoming an indispensable core component from inertial sensing control to the basic science field. With the continuous progress of related process technologies, the measurement accuracy of the laser gyro has gradually approached the theoretical limit. People have increased the scale factor by increasing the size of the gyro, and large laser gyros have thus been born, and a breakthrough in accuracy has been successfully achieved on the basis of traditional laser gyros. Currently, the measurement accuracy of mainstream large laser gyros in the world has reached 10 -13 to 10 -11 order of magnitude, and the lowest theoretical accuracy has dropped to 2×10 -15 rad / s, which can basically meet the stringent requirements of a series of high-precision fields such as the test of relativistic effects.

[0003] However, the high sensitivity of large laser gyros will inevitably amplify a series of noises including thermal noise and shot noise. Coupled with the more complex optical path structure of large laser gyros and the introduction of means to reduce the gain control single mode, the output optical power is much lower than that of traditional laser gyros, resulting in poor signal-to-noise ratio and restricting the improvement of measurement performance. Summary of the Invention

[0004] Aiming at the technical problems existing in the prior art, the present invention proposes an optimized system and method for detecting laser gyro signals based on spatial resolution, aiming to improve the detection signal-to-noise ratio of the beat frequency signal output by the laser gyro, which is applied to the process of collecting the output signal of the laser gyro, especially the laser gyro device, and lays a foundation for further improving and breaking through the measurement performance of the laser gyro.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows: On the one hand, the present invention provides an optimized system for detecting laser gyro signals based on spatial resolution, including a laser gyro, a beam shaping module, an APD array, a transimpedance amplifier, a data acquisition card, and a computer; The laser gyro outputs a combined optical beam to the beam shaping module; The beam shaping module is used to collimate the combined optical beam output by the laser gyro and convert it into a linear beam with a certain divergence angle and then output it to the APD array; The APD array receives the line beam with a certain divergence angle from the beam shaping module, converts the multi-dimensional combined optical signal of the received line beam into an analog current signal, and then transmits it to the transimpedance amplifier; The transimpedance amplifier is connected to the APD array and the data acquisition card, converts the analog current signal from the APD array into an analog voltage signal, and then transmits it to the data acquisition card; The data acquisition card receives the analog voltage signal from the transimpedance amplifier, converts it into a digital voltage signal, and then transmits it to the computer; The computer contains a control module for driving the data acquisition card and a spatial resolution detection data modeling and processing module, which are used to perform mathematical modeling and analysis processing on the multi-dimensional combined optical signal received by the APD array, and extract the frequency and phase information of the signal.

[0006] Further, the beam shaping module includes a laser collimator and a cylindrical lens. The laser collimator receives the combined optical beam output from the laser gyroscope, collimates it and then outputs it; the cylindrical lens receives the collimated laser beam and converts it into a line beam with a certain divergence angle.

[0007] Further, the lens coating of the laser collimator should match the wavelength of the He-Ne laser output by the laser gyroscope λ and the clear aperture should be larger than the laser spot output by the gyroscope.

[0008] Further, the cylindrical lens selects a combination type of double cylindrical lenses that can independently adjust the divergence angle in the X / Y directions, and the surface accuracy should be ≥ λ λ / 4, and an anti-reflection film with a response wavelength covering the wavelength of the He-Ne laser output by the gyroscope λ is coated on the mirror surface.

[0009] Further, the APD array should support parallel output to meet the high-speed sampling requirements, its spectral response range should cover the wavelength of the He-Ne laser output by the laser gyroscope λ , the single pixel size should be smaller than the interference fringe spacing, and at the same time meet the Nyquist sampling law, the number of pixels should be able to cover the beam divergence range, and the saturation optical power should be greater than the peak optical power of the laser after divergence by the cylindrical lens.

[0010] On the other hand, a method for optimizing the detection of laser gyro signals based on spatial resolution is provided, including: (1) Build and adjust the above-mentioned optimized system for detecting laser gyro signals based on spatial resolution; (2) Start the optimized system for detecting laser gyro signals to perform signal acquisition: the data acquisition card acquires the analog voltage signals of each channel from the transimpedance amplifier, converts them into corresponding digital voltage signals, and then transmits them to the computer; (3) The computer performs control and signal processing, and processes the digital voltage signals of each channel from the data acquisition card, including: (3.1)Background level deduction and data denoising; (3.2)Weighted fusion of the detection data of each channel to obtain an optimized detection signal with improved signal-to-noise ratio; (3.3)Extract frequency and phase information based on the optimized detection signal.

[0011] The present invention combines optical transformation with the principle of spatial resolution detection. Referring to the idea of multi-source information fusion, an optimization method for detecting the output signal of a laser gyro is proposed, which effectively improves the signal-to-noise ratio of the detected beat frequency signal of the laser gyro output, and is of great significance for further improving and breaking through the measurement performance of the laser gyro.

[0012] Specifically, compared with the prior art, the technical effects of the present invention are as follows: The present invention has a higher spatial resolution. The full name of the APD array is Avalanche Photodiode Array. The APD array is a detector array in which multiple avalanche photodiodes (APDs) are integrated on a single chip. Each unit (APD) works independently, amplifying weak optical signals through the avalanche multiplication effect, and is suitable for scenarios requiring high sensitivity, fast response, or multi-channel detection. The APD array consists of multiple pixels and can perform high-resolution detection of the spatial distribution of the combined optical signal, thereby obtaining more accurate light intensity distribution and phase information.

[0013] The present invention has stronger noise suppression ability and stability. Through signal processing and data statistical analysis of multi-dimensional and multi-pixels, the present invention can better suppress a series of noises including shot noise and thermal noise, and at the same time better identify and eliminate a series of environmental interferences such as mechanical vibration and temperature gradient, thereby improving the detection signal-to-noise ratio (SNR) and stability.

[0014] The present invention has a larger dynamic range. The APD array itself can provide a larger dynamic range, adapt to a wider range of light intensity changes, and can also complete high-precision measurement for the combined optical signal output by a large laser gyro with a much lower intensity compared to a traditional laser gyro. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0016] Figure 1 FIG. is a schematic structural diagram of an optimized system for detecting laser gyro signals based on spatial resolution; Reference numerals in the figure: 1. Laser gyroscope; 2. Laser collimator; 3. Cylindrical mirror; 4. APD array; 5. Transimpedance amplifier; 6. Data acquisition card; 7. Computer. Specific embodiments

[0017] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0018] In one embodiment, referring to Figure 1 , a laser gyroscope signal detection optimization system based on spatial resolution is provided, including a laser gyroscope 1, a beam shaping module, an APD array 4, a transimpedance amplifier 5, a data acquisition card 6, and a computer 7; The laser gyroscope 1 outputs a combined light beam to the beam shaping module; The beam shaping module is used to collimate the combined light beam output by the laser gyroscope and convert it into a linear light beam with a certain divergence angle and then output it to the APD array 4. The beam shaping module includes a laser collimator 2 and a cylindrical mirror 3. The laser collimator 2 receives the combined light beam output from the laser gyroscope 1, collimates it and then outputs it; the cylindrical mirror 3 receives the collimated laser beam and converts it into a linear light beam with a certain divergence angle.

[0019] The APD array 4 receives the linear light beam with a certain divergence angle from the beam shaping module, and converts the multi-dimensional combined light signal of the received linear light beam into an analog current signal and then transmits it to the transimpedance amplifier 5; The transimpedance amplifier 5 is connected to the APD array 4 and the data acquisition card, and converts the analog current signal from the APD array 4 into an analog voltage signal and then transmits it to the data acquisition card 6; The data acquisition card 6 receives the analog voltage signal from the transimpedance amplifier 5, converts it into a digital voltage signal and then transmits it to the computer 7; The computer 7 includes a control module for driving the data acquisition card and a spatial resolution detection data modeling and processing module, which is used to perform mathematical modeling and analysis processing on the multi-dimensional combined light signal received by the APD array 4, and extract the frequency and phase information of the signal.

[0020] Specifically, the laser gyro 1 can be placed on an air-bearing platform. The laser collimator 2 is fixed on an optical bench through an adjustment mount to maintain mechanical stability and is placed behind the combined light output port of the laser gyro 1. It receives the combined light beam output from the laser gyro 1, collimates it, and then outputs it to avoid or reduce the aberration introduced after the non-collimated beam is diverged by the cylindrical lens 3, while maximizing the beam utilization rate. The cylindrical lens 3 is placed behind the laser collimator 2, receives the collimated laser beam from the laser collimator 2, and converts it into a line beam with a certain divergence angle. The APD array 4 is placed in the light output direction of the cylindrical lens 3, receives the line beam with a certain divergence angle from the cylindrical lens 3, and converts the optical signal of the line beam into an electrical current signal and then transmits it to the transimpedance amplifier 5. The transimpedance amplifier 5 is connected to the APD array 4 and the data acquisition card 6 through a coaxial cable, converts the electrical current signal from the APD array 4 into a voltage signal, and then transmits it to the data acquisition card 6. The data acquisition card 6 receives the voltage signal from the transimpedance amplifier 5, converts it into a digital electrical signal, and then transmits it to the computer 7. The computer 7 is connected to the data acquisition card 6 through a USB cable via a USB interface, and contains a control program for driving the data acquisition card 7 and a program for modeling and processing spatial resolution detection data, so as to perform mathematical modeling and analysis processing on the multi-dimensional combined light signal received by the APD array 4.

[0021] Combining the output laser characteristics and working principle of the laser gyro 1, the device selection should meet the following requirements: The lens coating of the laser collimator 2 should match the wavelength of the He-Ne laser output by the laser gyro 1 λ and the clear aperture should be larger than the laser spot output by the gyro. The cylindrical lens 2 is selected as a combination type of double cylindrical lenses that can independently adjust the divergence angles in the X / Y directions, and the surface accuracy should be ≥ λ λ / 4, and an anti-reflection coating with a response wavelength covering the wavelength of the He-Ne laser output by the gyro λ is plated on the mirror surface. The APD array 4 should support parallel output to meet the high-speed sampling requirements. Its spectral response range should cover the wavelength of the He-Ne laser output by the laser gyro λ , the single-pixel size should be smaller than the interference fringe spacing, and at the same time meet the Nyquist sampling theorem (i.e., at least 2 pixels / fringe period) to avoid aliasing. The number of pixels should be able to cover the beam divergence range, and the saturation light intensity should be greater than the peak light intensity of the laser after divergence by the cylindrical lens. The transimpedance amplifier 5 should have enough channels to simultaneously receive multi-dimensional signals from the APD array 4, and the noise characteristics, transimpedance gain, and bandwidth should match the data resolution of the APD array 4 and the data acquisition card 6 to avoid deteriorating the signal-to-noise ratio. The data acquisition card 6 has multi-channel data input ports to receive multi-channel information from the APD array 4. The sampling rate should match the APD array 4, and the data resolution should match the requirements of the laser gyro output signal in the application measurement application.

[0022] In a preferred embodiment, the laser collimator 2 in the spatially resolved laser gyro signal detection optimization system is replaced by a lens, and the lens used is a Throlabs LA1951-B type collimating lens; the cylindrical lens 3 is of the Newport CSX200AR.10 type, which can maintain the minimum wavefront distortion as much as possible; in the APD array 4, the 16AA0.4-9 SMD model is selected, and the quantum efficiency in the wavelength range of 760-910 nm is greater than 80%; for the transimpedance amplifier 5, the Texas Instruments OPA857 model is selected and used in parallel to meet the multi-channel requirements; for the data acquisition card 6, the 6-channel NI USB-6210 model is selected to achieve high-resolution sampling.

[0023] In one embodiment, a spatially resolved laser gyro signal detection optimization method is provided, including: (1) Build and adjust the spatially resolved laser gyro signal detection optimization system provided in any of the above embodiments. Specifically, it includes: (1.1) Turn on the laser gyro 1 to emit initial laser light. (1.2) Adjust the beam shaping module, which includes the laser collimator 2 and the cylindrical lens 3. Adjust the position of the laser collimator 2 so that the output light spot of the laser gyro 1 falls on the center of the incident aperture of the laser collimator 2. Slowly rotate the collimator focal length adjustment ring until the light spot size on the cylindrical lens 3 is the smallest, and an elliptical light spot stretched in a single direction is emitted from the cylindrical lens 3. At this time, it is considered that the laser beam has been collimated. (1.3) Adjust the spatial position of the APD array 4 to ensure that all the divergent laser beams emitted from the cylindrical lens 3 hit the APD array 4. (1.4) Configure the APD array 4, the transimpedance amplifier 5, and the data acquisition card 6, including: (1.4.1) Use a coaxial cable to connect the cathodes of all APD units in the APD array 4 in parallel and then connect them to the anode of the high-voltage bias power supply. The cathode of the high-voltage bias power supply is grounded to make the APD enter the avalanche region and amplify the weak current generated by the divergent light beam emitted from the cylindrical lens 3. (1.4.2) Use a coaxial cable to connect the anodes of each APD unit in the APD array 4 to the respective independent inverting input channels of the transimpedance amplifier 5, so that the transimpedance amplifier 5 receives the analog current signals from the APD array 4 and converts the analog current signals of each channel into corresponding analog voltage signals. The number of channels of the transimpedance amplifier is the number of output channels of the APD array, and each output channel of the APD array corresponds to an input channel of the transimpedance amplifier. S is the number of output channels of the APD array, and each output channel of the APD array corresponds to an input channel of the transimpedance amplifier; (1.4.3) Use a coaxial cable to connect the output end of the transimpedance amplifier to the input end of the data acquisition card.

[0024] (2) Start the laser gyro signal detection optimization system to collect signals: The data acquisition card 6 collects the analog voltage signals of each channel from the transimpedance amplifier 5, converts them into corresponding digital voltage signals, and then transmits them to the computer 7; (3) The computer 7 controls and processes the signals, and processes the digital voltage signals of each channel from the data acquisition card 6, including: (3.1) Background level subtraction and data denoising; (3.2) Weighted fusion of the detection data of each channel to obtain an optimized detection signal with improved signal-to-noise ratio; (3.3) Extract frequency and phase information based on the optimized detection signal.

[0025] Further, in step (3.1), background level subtraction and data denoising include: (3.1.1) Turn off the power of the laser gyro, and control the data acquisition card to collect the background voltage signal of the k th channel with a length of N when there is no gyro optical signal and transmit it to the computer; (3.1.2) Use the polynomial fitting algorithm to fit the background voltage signal of the th channel: ; ; where is the number of non-zero order terms of the polynomial, is the coefficient before the th non-constant term, is the constant term; (3.1.3) Turn on the power of the laser gyro. At this time, the data acquisition card collects the voltage signal of the k th channel with a length of N when there is gyro optical signal and transmit it to the computer; (3.1.4) Obtain the voltage signal of the th channel with a length of k after removing the influence of background noise: N : ; (3.1.5) Perform time-domain filtering and denoising on the voltage signal to obtain the true signal of the k th channel with a length of N after subtracting background noise and denoising: : ; where, Mis the window size of the moving average, denotes the th value in , ..., M -1. The above formula means that starting from the first data point in the sequence, the average value of the data segment within a length of M after each data point is taken, and the obtained average value is used as the result after noise reduction processing for the corresponding data point.

[0026] Furthermore, in step (3.2), the weighted fusion of the detection data of each channel to obtain the optimized detection signal with improved signal-to-noise ratio includes: (3.2.1) Calculate the noise variance k of the th channel: ; where , respectively denote the k th and N th values in the voltage signal with a length of m obtained in step (3.1.3) for the n th channel; (3.2.2) Allocate weights according to the noise variances of each channel, where the weight k of the th channel is: , where S is the number of output channels of the APD array; (3.2.3) Perform weighted summation on the true signals of all channels to obtain the optimized detection signal with improved signal-to-noise ratio, .

[0027] Furthermore, in step (3.3), extracting frequency and phase information based on the optimized detection signal includes: (3.3.1) For the sampling points at the same moment on the APD array 4, combine the true signals of each channel into the intensity distribution

[0028] of the laser on the photosensitive surface of the APD array at the current moment (3.3.2) Perform 2D-FFT processing on to obtain the spatial spectrum ; (3.3.3) Filter and extract the fundamental frequency component, and perform inverse FFT processing to obtain the phase field.

[0029] Matters not covered by this invention are well-known techniques.

[0030] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0031] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

[0032] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An optimized system for detecting laser gyro signals based on spatial resolution, characterized in that, It includes a laser gyroscope, a beam shaping module, an APD array, a transimpedance amplifier, a data acquisition card, and a computer; The laser gyroscope outputs a combined light beam to the beam shaping module; The beam shaping module is used to collimate the combined light beam output by the laser gyroscope and convert it into a linear beam with a certain divergence angle, and then output it to the APD array; The APD array receives the linear beam with a certain divergence angle from the beam shaping module, and converts the multi-dimensional combined light signal of the received linear beam into an analog current signal and then transmits it to the transimpedance amplifier; The transimpedance amplifier is connected to the APD array and the data acquisition card, and converts the analog current signal from the APD array into an analog voltage signal and then transmits it to the data acquisition card; The data acquisition card receives the analog voltage signal from the transimpedance amplifier, converts it into a digital voltage signal and then transmits it to the computer; The computer contains a control module for driving the data acquisition card and a spatial resolution detection data modeling and processing module, which is used to perform mathematical modeling and analysis processing on the multi-dimensional combined light signal received by the APD array, and extract the frequency and phase information of the signal.

2. The optimized system for detecting laser gyro signals based on spatial resolution according to claim 1, wherein The beam shaping module includes a laser collimator and a cylindrical lens. The laser collimator receives the combined light beam output by the laser gyroscope, collimates it and then outputs it; the cylindrical lens receives the collimated laser beam and converts it into a linear beam with a certain divergence angle.

3. The optimized system for detecting laser gyro signals based on spatial resolution according to claim 2, wherein, The lens coating of the laser collimator should match the wavelength of the He-Ne laser output by the laser gyro λ and the light passing aperture should be larger than the laser spot output by the gyro 4. The optimized system for detecting laser gyro signals based on spatial resolution according to claim 3, wherein Select a combination type of two cylindrical mirrors that can independently adjust the divergence angles in the X / Y directions, and the surface accuracy should be ≥ λ / 4. Coat an antireflection film on the mirror surface with a response wavelength covering the He-Ne laser wavelength of the gyro output λ .

5. The optimized system for detecting laser gyro signals based on spatial resolution according to any one of claims 2 to 4, characterized in that The APD array should be able to support parallel output to meet the requirements of high-speed sampling, and its spectral response range should cover the wavelength of the He-Ne laser output by the ring laser gyro. λ The size of a single pixel should be less than the interference fringe spacing, and at the same time meet the Nyquist sampling theorem. The number of pixels should be able to cover the beam divergence range, and the saturation optical power should be greater than the peak optical power of the laser after divergence by the cylindrical lens.

6. An optimized method for detecting laser gyro signals based on spatial resolution, characterized in that, It includes: (1) Build and adjust the spatially resolved laser gyroscope signal detection optimization system as described in claim 1; (2) Start the laser gyroscope signal detection optimization system and perform signal acquisition: the data acquisition card acquires the analog voltage signals of each channel from the transimpedance amplifier, converts them into corresponding digital voltage signals and then transmits them to the computer; (3) The computer performs control and signal processing, and processes the digital voltage signals of each channel from the data acquisition card, including: (3.1) Background level subtraction and data denoising; (3.2) Weighted fusion of the detection data of each channel to obtain an optimized detection signal with improved signal-to-noise ratio; (3.3) Extract frequency and phase information based on the optimized detection signal.

7. The method for optimizing the detection of laser gyro signals based on spatial resolution according to claim 6, wherein, Step (1) includes: (1.1) Turn on the laser gyroscope to make it emit the initial laser; (1.2) Adjust the beam shaping module, which includes a laser collimator and a cylindrical lens. Adjust the position of the laser collimator so that the output light spot of the laser gyroscope falls on the center of the incident aperture of the laser collimator. Slowly rotate the focal length adjustment ring of the collimator until the light spot size on the cylindrical lens is the smallest, and an elliptical light spot stretched in a certain single direction is emitted from the cylindrical lens. It is considered that the laser beam is collimated at this time; (1.3) Adjust the spatial position of the APD array to ensure that the divergent laser beam emitted from the cylindrical lens hits the entire APD array; (1.4) Configure the APD array, transimpedance amplifier, and data acquisition card, including: (1.4.1) Use a coaxial cable to connect the cathodes of all APD units in the APD array in parallel and then connect them to the anode of the high-voltage bias power supply. The cathode of the high-voltage bias power supply is grounded to make the APD enter the avalanche region and amplify the weak current generated by the divergent light beam emitted from the cylindrical lens; (1.4.2)Connect the anodes of the APD units in the APD array to the respective independent inverting input channels of the transimpedance amplifier using coaxial cables, so that the transimpedance amplifier receives the analog current signals from the APD array and converts the analog current signals of each channel into corresponding analog voltage signals. The number of channels of the transimpedance amplifier is the number of output channels of the APD array. S The number of output channels of the APD array, and each output channel of the APD array corresponds to an input channel of the transimpedance amplifier; (1.4.3) Use a coaxial cable to connect the output end of the transimpedance amplifier to the input end of the data acquisition card.

8. The optimized method for detecting laser gyro signals based on spatial resolution according to claim 6, wherein Step (3.1), including: (3.1.1) Turn off the power supply of the laser gyroscope. When the data acquisition card controls the acquisition of the gyro-free optical signal, the length of the background voltage signal of the k th channel is N and transmit it to the computer; ​ (3.1.2) Use the polynomial fitting algorithm to fit the background voltage signal of the th channel : ； wherein I is the number of non - zero order terms of the polynomial, is the coefficient before the th non - constant term, is the constant term; (3.1.3) Turn on the power supply of the laser gyro. When the data acquisition card detects the gyro optical signal, the voltage signal of the k channel with a length of N is collected and transmitted to the computer; ​ (3.1.4) Obtain the voltage signal of the k th channel with a length of N after removing the influence of background noise : (3.1.5) Perform time-domain filtering and noise reduction on the voltage signal to obtain the true signal of the k th channel with background noise removed and noise reduced, having a length of N : : ； Among them, M is the window size of the moving average, denotes the th value in ,..., M -1.

9. The method for optimizing the detection of laser gyro signals based on spatial resolution according to claim 8, characterized in that Step (3.2), including: (3.2.1) Calculate the k noise variance of the th channel: ； Among them and respectively represent the lengths of the k th channels obtained in step (3.1.3) are N voltage signals in the m th n th values; (3.2.2)Allocate weights according to the noise variances of each channel. The weight of the k th channel is: , where S is the number of output channels of the APD array; (3.2.3) Sum the true signals of all channels with weights to obtain an optimized detection signal with improved signal-to-noise ratio , .

10. The optimized method for detecting laser gyro signals based on spatial resolution according to claim 9, wherein Step (3.3), including: (3.3.1)For the sampling points on the APD array at the same moment, combine the true signals of each channel into the intensity distribution of the laser on the photosensitive surface of the APD array at the current moment ; (3.3.2) For perform 2D-FFT processing to obtain the spatial spectrum ; (3.3.3) Filter and extract the fundamental frequency component, and perform inverse FFT processing to obtain the phase field.

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