A laser gyroscope self-feedback dither control system
By introducing self-feedback jitter control into the laser gyroscope jitter control system and constructing closed-loop control using sampling resistors and signal extraction circuits, the failure problem caused by sensor malfunctions in traditional systems is solved, achieving efficient and stable jitter control and accurate angular velocity detection.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HUNAN HUATIAN PHOTOELECTRIC INERTIAL NAVIGATION TECH
- Filing Date
- 2026-04-21
- Publication Date
- 2026-07-24
AI Technical Summary
In traditional laser gyroscope jitter control systems, the use of separate piezoelectric ceramic sensors and magnetoelectric sensors increases hardware costs, and sensor failures can lead to system failure, causing the laser gyroscope to easily enter a locked state and output incorrect angular velocity information.
A self-feedback jitter control system is adopted. By connecting a low-resistance sampling resistor in series in the drive circuit, the mechanical motion information of the jitter wheel is extracted. A closed-loop control is constructed using a signal extraction circuit and a jitter controller to achieve resonant frequency tracking, jitter amplitude stabilization, and noise injection. This eliminates the need for traditional sensors, simplifies the structure, and improves stability.
No additional sensor hardware is required, which improves jitter drive efficiency, reduces costs, avoids system failure, ensures stable operation of the laser gyroscope under complex working conditions, and improves control accuracy and environmental adaptability.
Smart Images
Figure CN122083904B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of laser gyroscope technology, and in particular to a self-feedback jitter control system for laser gyroscopes. Background Technology
[0002] Laser gyroscopes are high-performance angular velocity sensing elements resulting from the combination of laser technology and the Sagnac effect, widely used in navigation, guidance, and control. Currently, mechanical jitter is widely used to suppress the latch-up effect of laser gyroscopes to improve their accuracy. A jitter control system typically consists of a jitter wheel, a jitter sensor, a signal conditioning circuit, a jitter controller, and a drive amplifier circuit. The jitter wheel is mounted at the center of the gyroscope, and multiple piezoelectric ceramic (PZT) sheets are bonded to it. Most of the PZT sheets are used for driving, while one or two others are used for jitter sensing. Applying a voltage to the PZT sheets drives the jitter wheel, causing the laser gyroscope to reciprocate, through the inverse piezoelectric effect. The jitter wheel operates in a resonant state, and the jitter amplitude needs to be stable. Commonly used jitter sensors, besides piezoelectric ceramic sensors, include magnetoelectric sensors and optical sensors. The output of the jitter sensor is amplified and filtered by the signal conditioning circuit and then input to the jitter controller. The jitter controller uses this signal to track the resonant frequency, stabilize the jitter amplitude, and inject noise. Finally, it outputs a jitter control signal with appropriate amplitude and frequency. This signal is amplified by the drive amplifier circuit and then drives the jitter wheel to generate mechanical jitter.
[0003] However, magnetoelectric and optical jitter sensors require additional space and cost. When piezoelectric ceramic sheets are used as jitter sensors, the number of piezoelectric ceramic sheets available for jitter driving is reduced. At the same time, when a jitter sensor malfunctions and causes a lack of jitter feedback signal, the jitter control system will not work properly. In this case, the laser gyroscope may enter a locked state and output incorrect angular velocity information. Summary of the Invention
[0004] This application is made in view of the above-mentioned problems, and its purpose is to provide a laser gyroscope self-feedback jitter control system to solve the problems mentioned in the background art. To achieve the above objectives, the present invention provides the following technical solution: a laser gyroscope self-feedback jitter control system, comprising a jitter controller, a drive amplifier circuit, a jitter wheel, a sampling resistor R, and a jitter signal extraction circuit, wherein the jitter controller outputs a jitter control signal. The input is given to the drive amplifier circuit, which then converts the jitter control signal into a signal. Amplified output jitter drive signal And jitter drive signal The sampling resistor R is connected to one end of the jitter signal extraction circuit and the sampling resistor R, respectively. The sampling resistor R is connected in series between the output of the drive amplifier circuit and the input of the jitter wheel, and one end is connected to the jitter drive signal of the drive amplifier circuit. The other end is connected to the input signal of the shaking wheel. The shaking wheel input signal Simultaneously, the signal is input to the jitter signal extraction circuit.
[0005] Furthermore, the resistance value of the sampling resistor R is between 30 and 100 Ω.
[0006] Furthermore, the jitter signal extraction circuit extracts the jitter drive signal. ,Spinning wheel input signal According to the formula: The jitter feedback signal is obtained through computational processing. Where R is the sampling resistor R, in Ω, and C is the equivalent capacitance F of the piezoelectric ceramic of the vibrating wheel. The unit is V. The unit is V. The unit is V.
[0007] Furthermore, the jitter feedback signal The signal is input to a jitter controller, which uses this signal to perform resonant frequency tracking, jitter amplitude stabilization, and noise injection, ultimately outputting a jitter feedback signal whose amplitude and frequency follow the jitter. Varying jitter control signal .
[0008] Furthermore, the jitter feedback signal With the dither wheel input signal The phase relationship between them changes with the jitter frequency, and they are in phase at the resonant frequency.
[0009] Furthermore, the jitter controller adjusts the jitter control signal. frequency until and In-phase operation enables resonant frequency tracking.
[0010] Furthermore, the jitter controller employs a PID control method to adjust the jitter control signal. The amplitude causes the jitter feedback signal The amplitude is consistent with the target value to achieve jitter amplitude stabilization. Random noise of amplitude or phase is injected into the jitter control signal. This achieves the elimination of dynamic locking zones in laser gyroscopes.
[0011] Furthermore, the jitter signal extraction circuit extracts the jitter feedback signal. The formula is: ; in, This refers to the mechanical vibration current generated by the mechanical deformation of the piezoelectric ceramic wheel. The unit is Amperes (A), and R is the sampling resistor, with the unit being ohms (Ω). The The calculation derivation process is as follows: The total driving current of the piezoelectric ceramic of the vibrating wheel consists of two parts: one part is the equivalent capacitance of the piezoelectric ceramic. charging and discharging current , The unit is A, and it satisfies in Input signal voltage for the shaking wheel. The first part is the equivalent capacitance of the piezoelectric ceramic of the vibrating wheel, measured in F; the second part is the mechanical vibration current caused by mechanical deformation. , Proportional to the angular velocity of the oscillation wheel, therefore the total current of the oscillation wheel is ; Current Caused by mechanical deformation, proportional to the angular velocity of the vibrating wheel, the total current of the vibrating wheel is... The voltage drop across the sampling resistor R satisfies: that is ,because Proportional to the angular velocity of the oscillation wheel, therefore Proportional to the angular velocity of the wheel's vibration, serving as a vibration feedback signal. .
[0012] Furthermore, the dithering input signal Implemented via differentiating circuit After the calculation, the input gain circuit performs RC coefficient gain adjustment, where the RC unit is s. Then, the relevant signals are integrated by the adder circuit and finally combined with the jitter drive signal. ,Spinning wheel input signal By performing subtraction, the jitter feedback signal formula is completed, and the final jitter feedback signal is output. .
[0013] Furthermore, the jitter signal extraction circuit is implemented through hardware or software.
[0014] Compared with existing technologies, this invention has the following advantages: Firstly, it eliminates the need for independent piezoelectric ceramic sensors, magnetoelectric sensors, or optical sensors in traditional jitter control systems. It eliminates the need for additional piezoelectric ceramic sensors and allows all piezoelectric ceramics on the jitter wheel to be used for driving, significantly improving jitter driving efficiency, saving on sensor hardware procurement, installation, and maintenance costs, and simplifying the overall system structure. Secondly, through the coordinated operation of the sampling resistor R and the jitter signal extraction circuit, the system directly extracts effective signals from the driving path to construct a self-feedback closed loop, avoiding the risk of system failure due to independent sensor anomalies, malfunctions, or signal loss. This solves the technical pain point of laser gyroscopes easily entering a locked state and outputting incorrect angular velocity information when sensors malfunction in traditional systems, ensuring the stable operation of the entire jitter control system and laser gyroscope navigation and guidance system under complex working conditions. Thirdly, it achieves dual optimization of control accuracy and adaptability; the jitter controller can be based on the jitter feedback signal... With the dither wheel input signal The phase relationship changes are precisely tracked to achieve resonant frequency tracking, ensuring that the jitter wheel always operates in a resonant state; at the same time, PID and other control methods are used to adjust the jitter feedback signal. The amplitude is dynamically adjusted to drive the signal, achieving precise and stable jitter amplitude. In addition, the jitter signal extraction circuit is optimized to use software implementation, which can store and dynamically compensate for the deviation of the piezoelectric ceramic equivalent capacitance F with temperature, improving the feedback accuracy under different temperature environments and enhancing the system's environmental adaptability and anti-interference capability. Attached Figure Description
[0015] To more clearly illustrate the technical solutions in the embodiments of this drawing or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this drawing. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0016] Figure 1 This is a schematic diagram of the structure of a jitter control system in the prior art; Figure 2 This is a schematic diagram of the self-feedback jitter control system of the present invention; Figure 3 This is a schematic diagram of a piezoelectric ceramic self-feedback circuit model. Figure 4 This is an example of a jitter signal extraction circuit.
[0017] The purpose, features, and advantages of this accompanying drawing will be further explained in conjunction with the embodiments and with reference to the accompanying drawing. Detailed Implementation
[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following description and illustration are provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.
[0019] Obviously, the following description is merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios without any inventive effort. Furthermore, it is understood that although the effort involved in such development may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.
[0020] Unless otherwise specified, the terms "comprising" and "including" as used in this application can be open-ended or closed-ended. For example, "comprising" and "including" can mean that other components not listed may also be included, or that only the listed components may be included.
[0021] Unless otherwise specified, the term "or" is inclusive in this application. For example, the phrase "A or B" means "A, B, or both A and B". More specifically, the condition "A or B" is satisfied by any of the following conditions: A is true (or exists) and B is false (or does not exist); A is false (or does not exist) and B is true (or exists); or both A and B are true (or exist).
[0022] Terminology explanation: such as Figures 1 to 3 As shown, a self-feedback jitter control system for a laser gyroscope includes a jitter controller, a drive amplifier circuit, a jitter wheel, a sampling resistor R, and a jitter signal extraction circuit. The jitter controller outputs a jitter control signal. The input is given to the driver amplifier circuit, which then converts the jitter control signal into a signal. Amplified output jitter drive signal And jitter drive signal Connect one end of the jitter signal extraction circuit and one end of the sampling resistor R respectively. The sampling resistor R is connected in series between the output of the drive amplifier circuit and the input of the jitter wheel, and one end is connected to the jitter drive signal of the drive amplifier circuit. The other end is connected to the input signal of the shaking wheel. Shaking wheel input signal Simultaneously, the jitter signal is input to the jitter signal extraction circuit, and the jitter controller adjusts the jitter control signal. frequency until and In-phase operation achieves resonant frequency tracking; the jitter controller uses PID control to adjust the jitter control signal. The amplitude causes the jitter feedback signal The amplitude is consistent with the target value to achieve jitter amplitude stabilization. Random noise of amplitude or phase is injected into the jitter control signal. To eliminate the dynamic lock-up zone of the laser gyroscope, the sampling resistor R has a resistance value of 30–100Ω. The jitter signal extraction circuit is implemented through hardware or software, and the jitter wheel input signal... Implemented via differentiating circuit After the calculation, the input gain circuit performs RC coefficient gain adjustment (RC unit is s), and then the relevant signals are integrated by the adder circuit, finally combined with the jitter drive signal. , Shaking wheel input signal The subtraction process is performed to complete the jitter feedback signal formula calculation, and the final jitter feedback signal is output. The jitter signal extraction circuit extracts the jitter drive signal. , Shaking wheel input signal According to the formula: The jitter feedback signal is obtained through computational processing. Where R is the sampling resistor R, in Ω, and C is the equivalent capacitance F of the piezoelectric ceramic of the vibrating wheel. The unit is V. The unit is V. The unit is V, jitter feedback signal The signal is input to the jitter controller, which then performs resonant frequency tracking, jitter amplitude stabilization, and noise injection. The final output amplitude and frequency follow the jitter feedback signal. Varying jitter control signal jitter feedback signal With the input signal of the dither wheel The phase relationship between them varies with the jitter frequency, and they are in phase at the resonant frequency; Jitter signal extraction circuit extracts jitter feedback signal The formula is: ;in, This refers to the mechanical vibration current generated by the mechanical deformation of the piezoelectric ceramic wheel. The unit is Amperes (A), and R is the sampling resistor, with the unit being ohms (Ω). The calculation derivation process is as follows: The total driving current of the piezoelectric ceramic of the vibrating wheel consists of two parts: one part is the equivalent capacitance of the piezoelectric ceramic. charging and discharging current , The unit is A, and it satisfies in Input signal voltage for the shaking wheel. The first part is the equivalent capacitance of the piezoelectric ceramic of the vibrating wheel, measured in F; the second part is the mechanical vibration current caused by mechanical deformation. , Proportional to the angular velocity of the oscillation wheel, therefore the total current of the oscillation wheel is ; Due to sampling resistor The voltage drop across the sampling resistor R, connected in series between the output of the driver amplifier circuit and the input of the dithering wheel, satisfies: that is ,in To drive the jitter drive signal output by the amplifier circuit, the above formula is rearranged to obtain: Combined with the jitter feedback signal formula Finally, the complete expression for the jitter feedback signal is obtained: because Proportional to the angular velocity of the oscillation wheel, therefore Similarly, the angular velocity of the jitter wheel, proportional to its angular velocity, is input as a jitter feedback signal to the jitter controller to achieve resonant frequency tracking, jitter amplitude stabilization, and dynamic lock-in elimination. ; In a practical implementation, the jitter signal extraction circuit can be composed of a differentiating circuit, a gain circuit, an adding circuit, and a subtracting circuit. Its signal processing flow is as follows: jitter wheel input signal... First, the signal is differentiated by a differentiating circuit to obtain the corresponding differential signal. Then, a gain circuit multiplies this differential signal by a gain RC (where R is the resistance of the sampling resistor and C is the capacitance of the piezoelectric ceramic equivalent capacitor F) to obtain a gain-adjusted signal. This signal is then compared with the input signal from the dithering wheel. The addition circuit performs an addition operation to obtain an intermediate operation signal. Finally, the subtraction circuit receives the jitter drive signal. Subtracting the intermediate operation signal from the output, the final output jitter feedback signal is obtained. Furthermore, the jitter signal extraction circuit can be implemented in hardware or software, preferably in software. Software can store the curve of the piezoelectric ceramic capacitor C changing with temperature, or model the relationship between capacitor C and temperature, dynamically compensating for capacitance deviations caused by temperature changes, thereby further improving the accuracy of the jitter feedback signal. The jitter feedback signal generated by the jitter signal extraction circuit... The signal is transmitted to the jitter controller, which uses this feedback signal as the core basis to construct a closed-loop control: one is resonant frequency tracking, due to the jitter feedback signal With the input signal of the dither wheel The phase relationship between the two signals changes with the jitter frequency, and they are in phase at the jitter wheel's resonant frequency. Therefore, the jitter controller dynamically adjusts the output jitter control signal by identifying the phase relationship between the two signals. The frequency is adjusted until the two signals are in phase to achieve precise tracking of the jitter wheel's resonant frequency, ensuring that the jitter wheel always operates in a resonant state; secondly, the jitter amplitude is stabilized. The jitter controller uses PID and other control methods to compare the jitter feedback signal. The jitter control signal is dynamically adjusted based on the actual amplitude and the preset target amplitude. The amplitude of the jitter feedback signal The amplitude is stabilized at the target value, thus ensuring the stability of the jitter amplitude; thirdly, noise injection is performed by injecting noise into the jitter control signal. Injecting amplitude or phase random noise effectively eliminates the dynamic locking region of the laser gyroscope, further improving the angular velocity detection accuracy of the laser gyroscope.
[0023] The working principle of this application is as follows: A mixed electrical signal containing information about the mechanical motion of the jib wheel is imperceptibly acquired in the drive circuit through an external low-resistance sampling resistor. Using signal extraction technology based on a circuit model, a feedback signal proportional to the jib wheel's angular velocity is calculated in real-time and accurately from this mixed signal, thus forming a high-precision closed-loop control system. This system eliminates the need for additional piezoelectric ceramic sensors on the jib wheel, simplifying the structure, and achieving automatic tracking of the jib wheel's resonant frequency, stable control of the jib amplitude, and effective elimination of dynamic locking zones. Drive signal generation and application: After the system starts, the core control unit (jitter controller) generates an initial jitter control signal. This signal is amplified by the drive amplifier circuit to form a jitter drive signal sufficient to drive the jitter wheel. This drive signal is applied to the jitter wheel and, through the inverse piezoelectric effect, causes the piezoelectric ceramic element of the jitter wheel to undergo mechanical deformation, driving the entire laser gyroscope cavity to perform precise reciprocating jitter, in order to overcome its inherent "lock-in effect".
[0024] Seamless sampling of key status information: One of the key innovations of this invention is how to obtain feedback signals that reflect the true motion state of the jib wheel. To achieve this, a sampling resistor with a very small resistance is connected in series between the output of the drive amplifier circuit and the input of the jib wheel. The resistance value of this resistor is carefully selected (for example, in the range of 30-100Ω) so that the power consumption and voltage drop generated by it under the drive current in the mA range are negligible, so as not to affect the normal drive of the jib wheel at all.
[0025] The current flowing through this sampling resistor is the vector sum of the driving current and the induced current generated by the mechanical deformation of the piezoelectric ceramic itself. Therefore, the voltage signal across the resistor is a mixed signal that simultaneously contains the voltage information of the driving source and the voltage component induced by the mechanical jitter angular velocity.
[0026] Accurate extraction of feedback signals based on circuit model: After acquiring the above mixed voltage signal, the system processes it through a jitter signal extraction circuit to separate the feedback signal that purely reflects mechanical jitter. The extraction principle is based on accurate circuit modeling of the drive loop containing the jitter wheel (equivalent to a capacitor) and the sampling resistor.
[0027] Signal processing flow: The extraction circuit receives two input signals: one is the original jitter drive signal, and the other is the jitter wheel input signal after passing through the sampling resistor. Through a series of analog or digital operations (mainly including differentiation, gain adjustment, addition and subtraction operations), the circuit can cancel out the pure capacitive drive component in the mixed signal, and finally extract a pure electrical signal that is proportional to the jitter wheel's jitter angular velocity, i.e., the jitter feedback signal.
[0028] Temperature compensation advantages: When implemented digitally (in software), the system can store or model the characteristics of the equivalent capacitance of piezoelectric ceramics as a function of temperature and perform dynamic compensation in the signal extraction algorithm. This effectively eliminates the impact of temperature changes on the accuracy of the feedback signal and ensures the stability and accuracy of the system across the entire temperature range.
[0029] Feedback-based intelligent closed-loop control: The extracted high-precision jitter feedback signal is sent back to the jitter controller in real time, thus forming a complete closed loop. The controller executes three core control strategies based on this feedback signal: Automatic resonant frequency tracking: The jitter wheel must operate at its mechanical resonant frequency to achieve optimal jitter efficiency. The controller monitors the phase difference between the jitter feedback signal and the jitter wheel input signal. When the two are in phase, it indicates that the system is operating at the resonant frequency. Therefore, the controller dynamically fine-tunes the frequency of the output control signal to keep the two signals in phase, thereby achieving automatic and accurate tracking of the jitter wheel's resonant frequency and overcoming the problem of resonant frequency drift caused by factors such as ambient temperature and aging.
[0030] Jitter amplitude stabilization control: The controller (e.g., using a PID control algorithm) compares the amplitude of the jitter feedback signal with a preset target amplitude value. By dynamically adjusting the amplitude of the output control signal, the amplitude of the feedback signal is stabilized at the target value, thereby ensuring the long-term constant jitter amplitude of the jitter wheel. This is the key to suppressing the lock-up effect of the laser gyroscope.
[0031] Dynamic lock-in elimination: To further improve the accuracy of laser gyroscope in measuring minute angular velocities, the controller injects random noise of a specific form (such as amplitude or phase) into the jitter control signal. This controlled disturbance can effectively break up the "dynamic lock-in" of the laser gyroscope, thereby significantly improving its low-speed measurement performance.
[0032] It should be noted that this application is not limited to the above-described embodiments. The above embodiments are merely examples, and any embodiments with the same structure and effect as the technical concept within the scope of this application are included in the technical scope of this application. Furthermore, various modifications that can be conceived by those skilled in the art to the embodiments, and other ways of constructing by combining some of the constituent elements of the embodiments, without departing from the spirit of this application, are also included in the scope of this application.
Claims
1. A self-feedback jitter control system for a laser gyroscope, comprising a jitter controller, a drive amplifier circuit, a jitter wheel, a sampling resistor R, and a jitter signal extraction circuit, characterized in that: The jitter controller outputs a jitter control signal. The input is given to the drive amplifier circuit, which then converts the jitter control signal into a signal. Amplified output jitter drive signal And jitter drive signal The sampling resistor R is connected to one end of the jitter signal extraction circuit and the sampling resistor R, respectively. The sampling resistor R is connected in series between the output of the drive amplifier circuit and the input of the jitter wheel, and one end is connected to the jitter drive signal of the drive amplifier circuit. The other end is connected to the input signal of the shaking wheel. The shaking wheel input signal Simultaneously, the signal is input to the jitter signal extraction circuit, which processes the jitter drive signal. ,Spinning wheel input signal According to the formula: The jitter feedback signal is obtained through computational processing. Where R is the sampling resistor R, in Ω, and C is the equivalent capacitance F of the piezoelectric ceramic of the vibrating wheel. The unit is V. The unit is V. The unit is V, and the jitter controller adjusts the jitter control signal. frequency until and In-phase operation achieves resonant frequency tracking; the jitter controller uses a PID control method to adjust the jitter control signal. The amplitude causes the jitter feedback signal The amplitude is consistent with the target value to achieve jitter amplitude stabilization. Random noise of amplitude or phase is injected into the jitter control signal. The process achieves the elimination of dynamic locking in the laser gyroscope, and the jitter signal extraction circuit extracts the jitter feedback signal. The formula is: ;in, This refers to the mechanical vibration current generated by the mechanical deformation of the piezoelectric ceramic wheel. The unit is Amperes (A), and R is the sampling resistor, with the unit being ohms (Ω). The calculation derivation process is as follows: The total driving current of the piezoelectric ceramic of the vibrating wheel consists of two parts: one part is the equivalent capacitance of the piezoelectric ceramic. charging and discharging current , The unit is A, and it satisfies in Input signal voltage for the shaking wheel. The first part is the equivalent capacitance of the piezoelectric ceramic of the vibrating wheel, measured in F; the second part is the mechanical vibration current caused by mechanical deformation. , Proportional to the angular velocity of the oscillation wheel, therefore the total current of the oscillation wheel is Current Caused by mechanical deformation, proportional to the angular velocity of the vibrating wheel, the total current of the vibrating wheel is... The voltage drop across the sampling resistor R satisfies: that is ,because Proportional to the angular velocity of the oscillation wheel, therefore Proportional to the angular velocity of the wheel's vibration, serving as a vibration feedback signal. The shaking wheel input signal Implemented via differentiating circuit After the calculation, the input gain circuit performs RC coefficient gain adjustment, where the RC unit is s. Then, the relevant signals are integrated by the adder circuit and finally combined with the jitter drive signal. ,Spinning wheel input signal By performing subtraction, the jitter feedback signal formula is completed, and the final jitter feedback signal is output. .
2. The laser gyroscope self-feedback jitter control system according to claim 1, characterized in that, The resistance value of the sampling resistor R is between 30 and 100 Ω.
3. The laser gyroscope self-feedback jitter control system according to claim 1, characterized in that, The jitter feedback signal The signal is input to a jitter controller, which uses this signal to perform resonant frequency tracking, jitter amplitude stabilization, and noise injection, ultimately outputting a jitter feedback signal whose amplitude and frequency follow the jitter. Varying jitter control signal .
4. The laser gyroscope self-feedback jitter control system according to claim 3, characterized in that, The jitter feedback signal With the dither wheel input signal The phase relationship between them changes with the jitter frequency, and they are in phase at the resonant frequency.
5. The laser gyroscope self-feedback jitter control system according to claim 1, characterized in that, The jitter signal extraction circuit is implemented through hardware or software.