A laser gyro phase adaptive cavity length stabilization system and method

Abstract

The application discloses a kind of laser gyro phase adaptive cavity length stabilizing system, comprising: microcontroller, first low-pass filter, drive amplifier, photoelectric converter and second low-pass filter;Wherein, microcontroller: cavity length modulation signal is sent into first low-pass filter;Receive light intensity signal and filter signal, according to filter signal to obtain drive signal;First low-pass filter: after filtering cavity length modulation signal, obtain second filter signal;Drive amplifier: the signal of drive signal and second filter signal fusion is amplified to generate amplification signal, and amplification signal is used to adjust the light power of laser gyro and modulate;Photoelectric converter: receiving photoelectric tube output signal of laser gyro, photoelectric tube output signal is converted to obtain light intensity signal;Second low-pass filter: receive light intensity signal, and light intensity signal is filtered to obtain filter signal.The application solves the problem of cavity length stabilizing system failure.

Description

Technical Field

[0001] This invention belongs to the field of laser gyroscope technology, and particularly relates to a laser gyroscope phase adaptive cavity length stabilization system and method. Background Technology

[0002] Laser gyroscopes are highly valued in various fields of inertial systems due to their small scale factor variation, wide dynamic range, digital output, and high reliability. However, the cavity length of a laser gyroscope is affected by factors such as temperature and external forces, which causes changes in light intensity and affects its use. Cavity length stabilization technology must be used to obtain a stable laser frequency. However, changes in the characteristics of the cavity length stabilization actuator and the inconsistency of the gyroscope itself can lead to an unstable phase relationship in the cavity length stabilization system or changes during long-term use, causing the cavity length stabilization system to fail. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a laser gyroscope phase adaptive cavity length stabilization system and method, which solves the problem of cavity length stabilization system failure.

[0004] The objective of this invention is achieved through the following technical solution: a laser gyroscope phase-adaptive cavity length stabilization system, comprising: a microcontroller, a first low-pass filter, a drive amplifier, a photoelectric converter, and a second low-pass filter; wherein, the microcontroller: generates a cavity length modulation signal M1 and sends it to the first low-pass filter; receives a light intensity signal M4 and a filtered signal M5, obtains a drive signal K1 based on the filtered signal M5, and transmits the drive signal K1 to the drive amplifier; the first low-pass filter: receives the cavity length modulation signal M1, filters the cavity length modulation signal M1 to obtain a second filtered signal M2, and transmits the second filtered signal M2 to the drive amplifier. The system comprises: a drive amplifier that receives a drive signal K1 and a second filter signal M2, amplifies the fused signal K1 and M2 to generate an amplified signal M3, which is used to adjust and modulate the optical power of the laser gyroscope; a photoelectric converter that receives the phototube output signal from the laser gyroscope, converts the phototube output signal to obtain a light intensity signal M4, and transmits the light intensity signal M4 to the second low-pass filter and the microcontroller; and a second low-pass filter that receives the light intensity signal M4, filters the light intensity signal M4 to obtain a filtered signal M5, and transmits the filtered signal M5 to the microcontroller.

[0005] In the aforementioned laser gyroscope phase adaptive cavity length stabilization system, the microcontroller simultaneously acquires the light intensity signal M4 and the acquisition filter signal M5.

[0006] In the aforementioned laser gyroscope phase adaptive cavity length stabilization system, the driving signal K1 and the second filtered signal M2 are superimposed and then amplified by the driving amplifier.

[0007] In the aforementioned laser gyroscope phase adaptive cavity length stabilization system, the microcontroller controls the drive signal K1 to change linearly, while simultaneously acquiring the light intensity signal M4, finding the voltage value V1 of the drive signal K1 corresponding to the moment when the light intensity signal M4 is at its maximum, and fixing the drive signal K1 at the voltage value V1.

[0008] In the aforementioned laser gyroscope phase adaptive cavity length stabilization system, the frequency of the microcontroller's timer is F1, the timing period corresponding to the frequency F1 is T1, and the period of a cavity length modulation signal M1 is 2N times T1; where N is a positive integer greater than 4.

[0009] In the aforementioned laser gyroscope phase-adaptive cavity length stabilization system, the microcontroller samples the filtered signal M5 in each of the 1 to 2N timer interrupts, obtaining the signal values ​​S1, S2, ... S of the filtered signal M5. N S 2N-1 S 2N .

[0010] In the aforementioned laser gyroscope phase-adaptive cavity length stabilization system, 1 to N T1 signals represent the high level of the cavity length modulation signal M1.

[0011] In the aforementioned laser gyroscope phase-adaptive cavity length stabilization system, N+1 to 2N T1 signals are low-level cavity length modulation signals M1.

[0012] A laser gyroscope phase adaptive cavity length stabilization method includes: Step S1: The microcontroller controls the driving signal K1 to change linearly, while simultaneously acquiring the light intensity signal M4, finding the voltage value V1 of the driving signal K1 corresponding to the moment when the light intensity signal M4 is at its maximum, and fixing the driving signal K1 at the voltage value V1; Step S2: The frequency of the microcontroller's timer is F1, the timing period corresponding to the frequency F1 is T1, and 2N T1s constitute the period of one cavity length modulation signal M1; where N is a positive integer greater than 4; Step S3: The microcontroller samples the filtered signal M5 in each timer interrupt from 1 to 2N, respectively, to obtain the signal values ​​S1, S2, ... S of the filtered signal M5. N S 2N-1 S 2N Step S4: Calculate W1 and W respectively. -1 W2, W -2 ..., W N W -N Where, W1 = S1 - S N+1 W -1 =S N+1-S1, W2 = S2 - S N+2 W -2 =S N+2 -S2、…、W N =S N -S 2N W -N =S 2N -S N W1 is the first difference, W -1 W1 is the -1st difference, W2 is the 2nd difference, W -2 For the -2nd difference, W N For the Nth difference, W -N For the -Nth difference; Step S5: Repeat steps S3 to S4 L times to obtain P1, P -1 ... P N P -N Where, P1=ΣW1, P -1 =ΣW -1 ... P N =ΣW N P -N =ΣW -N P1 is the cumulative sum of L W1 values, P -1 For L W -1 The accumulated value, P N For L W N The accumulated value, P -N For L W -N The accumulated value; L is a positive integer; Step S6: Based on P1, P -1 ... P N P -N Adjust the driving signal K1 and record the signal value of the final adjusted light intensity signal M4 to obtain the signal values ​​of 2N light intensity signals M4; Step S7: Compare the signal values ​​of the 2N light intensity signals M4 to obtain the maximum signal value of the light intensity signal M4, and perform cavity length stabilization control of the laser gyroscope phase adaptive cavity length stabilization system based on the maximum signal value of the light intensity signal M4.

[0013] An electronic device includes: a memory for storing computer-readable instructions; and a processor for executing the computer-readable instructions to perform a laser gyroscope phase adaptive cavity length stabilization method.

[0014] Compared with the prior art, the present invention has the following advantages: This invention solves the problem that the characteristic changes of the laser gyroscope cavity length stabilization actuator and the inconsistency of the gyroscope lead to the non-constant phase relationship of the cavity length stabilization system or changes during long-term use, resulting in the failure of the cavity length stabilization system. Attached Figure Description

[0015] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a structural block diagram of the laser gyroscope phase adaptive cavity length stabilization system provided in an embodiment of the present invention; Figure 2 This is a phase relationship diagram between the laser gyroscope modulation signal M2 and the feedback signal M5 provided in an embodiment of the present invention; Figure 3 This is a flowchart of the laser gyroscope phase adaptive cavity length stabilization method provided in the embodiments of the present invention. Detailed Implementation

[0016] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a structural block diagram of the laser gyroscope phase adaptive cavity length stabilization system provided in an embodiment of the present invention. Figure 1 As shown, the laser gyroscope phase-adaptive cavity length stabilization system includes: a microcontroller, a first low-pass filter, a drive amplifier, a photoelectric converter, and a second low-pass filter. Among them, Microcontroller: Generates cavity length modulation signal M1 and sends it to the first low-pass filter; receives light intensity signal M4 and filter signal M5, obtains drive signal K1 based on filter signal M5, and transmits drive signal K1 to drive amplifier.

[0018] First low-pass filter: Receives cavity length modulation signal M1, filters cavity length modulation signal M1 to obtain second filtered signal M2, and transmits second filtered signal M2 to drive amplifier.

[0019] Drive amplifier: Receives drive signal K1 and second filter signal M2, amplifies the fused signal of drive signal K1 and second filter signal M2 to generate amplified signal M3, which is used to adjust the optical power of the laser gyroscope and perform modulation.

[0020] Photoelectric converter: Receives the output signal of the phototube of the laser gyroscope, converts the phototube output signal to obtain the light intensity signal M4, and transmits the light intensity signal M4 to the second low-pass filter and the microcontroller respectively.

[0021] The second low-pass filter receives the light intensity signal M4, filters it to obtain the filtered signal M5, and then transmits the filtered signal M5 to the microcontroller.

[0022] The microcontroller generates a cavity length modulation signal M1, which is fed into the first low-pass filter. Simultaneously, it receives the signal output from the photoelectric converter through the second low-pass filter and performs calculations to generate the input signal K1 for the driver amplifier. The first low-pass filter receives the M1 signal, filters it to obtain the M2 signal, and sends the M2 signal to the driver amplifier. The driver amplifier receives the M2 and K1 signals, amplifies the fused signal to generate the M3 signal, which is used to adjust and modulate the optical power of the laser gyroscope. The photoelectric converter performs an IV (current-to-voltage) conversion on the output signal of the laser gyroscope phototube to obtain the light intensity signal M4. The second low-pass filter filters the M4 signal to generate the signal M5.

[0023] The microcontroller simultaneously acquires signals M4 and M5 via an AD converter. Meanwhile, the K1 signal is superimposed on the M2 signal and then amplified by a driver amplifier.

[0024] Figure 2 This refers to the phase relationship between the laser gyroscope modulation signal M2 (i.e., the second filter signal M2) and the feedback signal M5 (i.e., the filter signal M5). Since the laser gyroscope contains both photoelectric and mechanical components, this phase relationship can be at any position between 0 and 360°. Phase compensation is necessary to achieve cavity length control. In this system, the values ​​sampled at the peak and trough positions of the feedback signal M5 are used to calculate the cavity length stability control, which means finding the corresponding sampling interruption time.

[0025] like Figure 3 As shown, this embodiment also provides a laser gyroscope phase adaptive cavity length stabilization method, which includes the following steps: Step S1: The microcontroller controls the drive signal K1 to change linearly, while simultaneously acquiring the light intensity signal M4, finding the voltage value V1 of the drive signal K1 corresponding to the moment when the light intensity signal M4 is at its maximum, and fixing the drive signal K1 at the voltage value V1. Step S2: The frequency of the microcontroller's timer is F1, the timing period corresponding to frequency F1 is T1, and 2N T1s constitute the period of one cavity length modulation signal M1; where N is a positive integer greater than 4. Step S3: The microcontroller samples the filtered signal M5 in each of the 1 to 2N timer interrupts to obtain the signal values ​​S1, S2, ... S of the filtered signal M5. N S 2N-1 S 2N ; Step S4: Calculate W1 and W respectively. -1 W2, W -2 ..., W N W -N Where, W1 = S1 - S N+1 W -1 =S N+1 -S1, W2 = S2 - S N+2 W -2 =S N+2 -S2、…、W N =S N -S 2N W -N =S 2N -S N W1 is the first difference, W -1 W1 is the -1st difference, W2 is the 2nd difference, W -2 For the -2nd difference, W N For the Nth difference, W -N This is the -Nth difference; Step S5: Repeat steps S3 to S4 L times to obtain P1 and P2. -1 ... P N P -N Where, P1=ΣW1, P -1 =ΣW -1 ... P N =ΣW N P -N =ΣW -N P1 is the cumulative sum of L W1 values, P -1 For L W -1 The accumulated value, P N For L W N The accumulated value, P -N For L W -N The accumulated value; L is a positive integer; Step S6: Based on P1, P -1 ... P N P -N Adjust the driving signal K1 and record the signal value of the final adjusted light intensity signal M4 to obtain the signal values ​​of 2N light intensity signals M4. Step S7: Compare the signal values ​​of the 2N light intensity signals M4 to obtain the maximum signal value of the light intensity signal M4, and perform cavity length stabilization control of the laser gyroscope phase adaptive cavity length stabilization system based on the maximum signal value of the light intensity signal M4.

[0026] The timer interrupt uses T1 as the timing period, and 2N (N≥4) T1 cycles constitute one period of the modulation signal M1. During periods 1 to N, M1 is high, and during periods N+1 to 2N, M1 is low. M5 is sampled in each of the 1 to 2N timer interrupts to obtain signals S1, S2, ... S... N S 2N-1 S 2N .

[0027] Calculate W1=S1-S respectively N+1 W -1 =S N+1 -S1, W2 = S2 - S N+2 W -2 =S N+2 -S2、…、W N =S N -S 2N W -N =S 2N -S N In each subtraction formula, the two signal sampling points are called sampling pairs.

[0028] By comparing the signal values ​​of 2N light intensity signals M4, the sampling pair corresponding to the moment when the M4 value is maximum is obtained, and this sampling pair is used for subsequent system cavity length stabilization control. This reflects the sampling times corresponding to the peaks and troughs of M5, thus achieving phase compensation.

[0029] This embodiment also provides an electronic device, including: a memory for storing computer-readable instructions; and a processor for running the computer-readable instructions to execute a laser gyroscope phase adaptive cavity length stabilization method.

[0030] The adaptive phase-finding method in this embodiment performs phase compensation on the cavity length stabilization system, solving the problem of phase changes during long-term use, and reducing the production and debugging costs caused by the phase inconsistency of the gyroscope.

[0031] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A laser gyroscope phase-adaptive cavity length stabilization system, characterized in that... include: Microcontroller, first low-pass filter, driver amplifier, photoelectric converter, and second low-pass filter; wherein, The microcontroller generates a cavity length modulation signal M1, which is then fed into a first low-pass filter. The system receives light intensity signal M4 and filter signal M5, obtains drive signal K1 based on filter signal M5, and transmits drive signal K1 to the drive amplifier. The first low-pass filter: receives the cavity length modulation signal M1, filters the cavity length modulation signal M1 to obtain the second filtered signal M2, and transmits the second filtered signal M2 to the drive amplifier; The driving amplifier receives the driving signal K1 and the second filtered signal M2, and amplifies the signal after fusing the driving signal K1 and the second filtered signal M2 to generate an amplified signal M3. The amplified signal M3 is used to adjust the optical power of the laser gyroscope and perform modulation. The photoelectric converter receives the phototube output signal from the laser gyroscope, converts the phototube output signal to obtain a light intensity signal M4, and transmits the light intensity signal M4 to the second low-pass filter and the microcontroller respectively. The second low-pass filter receives the light intensity signal M4, filters the light intensity signal M4 to obtain the filtered signal M5, and transmits the filtered signal M5 to the microcontroller.

2. The laser gyroscope phase adaptive cavity length stabilization system according to claim 1, characterized in that: The microcontroller simultaneously acquires the light intensity signal M4 and the acquired filter signal M5.

3. The laser gyroscope phase adaptive cavity length stabilization system according to claim 1, characterized in that: The driving signal K1 and the second filtered signal M2 are superimposed and then amplified by the driving amplifier.

4. The laser gyroscope phase adaptive cavity length stabilization system according to claim 1, characterized in that: The microcontroller controls the drive signal K1 to change linearly, while simultaneously acquiring the light intensity signal M4, finding the voltage value V1 of the drive signal K1 corresponding to the moment when the light intensity signal M4 is at its maximum, and fixing the drive signal K1 at the voltage value V1.

5. The laser gyroscope phase adaptive cavity length stabilization system according to claim 4, characterized in that: The microcontroller's timer has a frequency of F1, and the timing period corresponding to frequency F1 is T1. The period of a cavity length modulation signal M1 is 2N times T1; where N is a positive integer greater than 4.

6. The laser gyroscope phase adaptive cavity length stabilization system according to claim 5, characterized in that: The microcontroller samples the filtered signal M5 in each of the 1 to 2N timer interrupts, obtaining the signal values ​​S1, S2, ... S of the filtered signal M5. N S 2N-1 S 2N .

7. The laser gyroscope phase adaptive cavity length stabilization system according to claim 5, characterized in that: T1 to N are high levels of cavity length modulation signal M1.

8. The laser gyroscope phase adaptive cavity length stabilization system according to claim 7, characterized in that: The N+1 to 2N T1 signals are low levels of the cavity length modulation signal M1.

9. A method for phase-adaptive cavity length stabilization of a laser gyroscope, characterized in that... include: Step S1: The microcontroller controls the drive signal K1 to change linearly, while simultaneously acquiring the light intensity signal M4, finding the voltage value V1 of the drive signal K1 corresponding to the moment when the light intensity signal M4 is at its maximum, and fixing the drive signal K1 at the voltage value V1. Step S2: The frequency of the microcontroller's timer is F1, the timing period corresponding to frequency F1 is T1, and 2N T1s constitute the period of one cavity length modulation signal M1; where N is a positive integer greater than 4. Step S3: The microcontroller samples the filtered signal M5 in each of the 1 to 2N timer interrupts to obtain the signal values ​​S1, S2, ... S of the filtered signal M5. N S 2N-1 S 2N ; Step S4: Calculate W1 and W respectively. -1 W2, W -2 ..., W N W -N Where, W1 = S1 - S N+1 W -1 =S N+1 -S1, W2 = S2 - S N+2 W -2 =S N+2 -S2、…、W N =S N -S 2N W -N =S 2N -S N W1 is the first difference, W -1 W1 is the -1st difference, W2 is the 2nd difference, W -2 For the -2nd difference, W N For the Nth difference, W -N This is the -Nth difference; Step S5: Repeat steps S3 to S4 L times to obtain P1 and P2. -1 ... P N P -N Where, P1=ΣW1, P -1 =ΣW -1 ... P N =ΣW N P -N =ΣW -N P1 is the cumulative sum of L W1 values, P -1 For L W -1 The accumulated value, P N For L W N The accumulated value, P -N For L W -N The accumulated value; L is a positive integer; Step S6: Based on P1, P -1 ... P N P -N Adjust the driving signal K1 and record the signal value of the final adjusted light intensity signal M4 to obtain the signal values ​​of 2N light intensity signals M4. Step S7: Compare the signal values ​​of the 2N light intensity signals M4 to obtain the maximum signal value of the light intensity signal M4, and perform cavity length stabilization control of the laser gyroscope phase adaptive cavity length stabilization system based on the maximum signal value of the light intensity signal M4.

10. An electronic device, characterized in that, include: Memory: Used to store computer-readable instructions; and Processor: configured to execute the computer-readable instructions, performing the method as described in claim 9.

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