Acceleration-based laser gyroscope lock-in and dither detection method and apparatus

Abstract

The application discloses an acceleration-based laser gyroscope lock area and dither detection method and device, comprising the following steps: S1, acceleration sensor layout; S2, signal transmission; S3, gyroscope reciprocating motion; S4, signal conversion; S5, signal phase shift conversion and input; S6, obtaining the estimated value of phase acceleration. The application uses the acceleration signal of the tangent direction of the laser gyroscope rotation obtained by the acceleration sensor, and the signal is processed in phase and amplitude, which can be used for laser gyroscope dither driving, dither amplitude feedback and control, noise adding time extraction, and measurement value extraction of the phase acceleration at the time of passing through the lock area; compared with the electromagnetic induction dither detection based on speed and the PSD dither detection based on displacement, the dither detection sensitivity of the acceleration signal is improved by times and times respectively.

Description

Technical Field

[0001] This invention relates to the field of laser gyroscope technology, specifically to a method and apparatus for locking the region and detecting jitter in a laser gyroscope based on acceleration. Background Technology

[0002] A laser gyroscope is a high-precision inertial sensor used to measure the angular velocity of a carrier. As a core component of laser inertial navigation systems, it is widely used in aerospace, aviation, and maritime fields. Its working principle is as follows: two ring laser beams, one moving clockwise and the other counterclockwise, run inside the gyroscope. When the carrier rotates, the two laser beams generate a phase difference. Phase difference It is proportional to the angle of rotation of the carrier. The derivative of the phase difference with respect to time... This represents the frequency difference between clockwise and counterclockwise light (i.e., beat frequency), and this frequency difference is related to the angular velocity of the carrier's rotation. Proportional (proportion factor is K): By measuring the frequency difference It can measure the angular velocity of the carrier rotating around the sensitive axis of the gyroscope. Due to backscattering and non-uniform loss, when the input speed is below a certain threshold, the forward and reverse beams in the laser gyroscope will experience synchronous locking. The working area below this threshold is the locking area, and the locking area error is the core error source of the laser gyroscope. Compressing lock-in error is the core direction of laser gyroscope technology development. Current lock-in control technologies are mainly divided into three categories: First, reducing non-uniform losses in the laser resonant cavity through process improvement to reduce the lock-in area from the source; second, using frequency offset technology to make the laser gyroscope avoid the lock-in area; and third, compensating for the lock-in area of ​​the gyroscope output through data processing to further compress the lock-in error. Among these, frequency shifting technology artificially creates a large phase difference between clockwise and counterclockwise lasers within the gyroscope, allowing the gyroscope to operate outside the locked zone. Mainstream solutions include four-frequency differential frequency shifting, rate frequency shifting, mechanical jitter frequency shifting, and magnetic mirror frequency shifting. Mechanical jitter frequency shifting is the most widely used and technologically mature. A mechanical jitter frequency shifting system consists of three parts: a jitter mechanism, a jitter detection mechanism, and a jitter control circuit. The jitter mechanism is installed in the central circular hole of the gyroscope and drives the gyroscope to perform periodic high-frequency, small-amplitude jittering around its central axis via piezoelectric ceramics. The jitter detection mechanism collects the jitter amplitude and frequency and feeds it back to the control circuit. The control circuit adjusts the drive signal accordingly, ensuring the jitter mechanism maintains its inherent frequency resonance and stable jitter amplitude, guaranteeing that the gyroscope operates outside the locked zone most of the time. The jitter detection mechanism is the core hub of the mechanical jitter control system, undertaking three major functions: jitter feedback control, jitter drive, and zero-crossing speed detection. Its detection performance directly determines the frequency shifting effect. Currently, both existing frequency shifting technology and locked-zone compensation technology detection schemes have inherent defects. PSD-based displacement detection scheme: A laser beam from a gyroscope is used to illuminate a PSD photodetector, and the displacement signal of the laser spot is detected. , This indicates the distance from the center of the gyroscope to the PSD. This is due to the amplitude of the gyroscope's vibration. Only 2-3 arcminutes, so the displacement The signal detected by the PSD is extremely weak due to its very small size, resulting in a low signal-to-noise ratio. Furthermore, this approach requires an in-cavity output laser to assist in jitter detection, increasing the losses in the laser resonator. Therefore, PSD-based jitter detection schemes are rarely used. The detection scheme based on the piezoelectric effect reuses the piezoelectric ceramic of the driving spokes of the jitter mechanism as the detection element. It has a large signal amplitude and high signal-to-noise ratio, but it will occupy the driving ceramic and reduce the driving capability of the jitter mechanism. The asymmetrical force on the spokes can easily cause cavity deformation and damage the stability of the optical path. Moreover, it can only detect the motion of the jitter mechanism and cannot reflect the true angular motion of the gyroscope optical path. The feedback control has errors and is only suitable for low-precision small laser gyroscopes. Speed ​​detection scheme based on electromagnetic induction: induced electromotive force is generated by the relative motion between a permanent magnet and a fixed coil. , It is the magnetic flux density around the permanent magnet. It is the length of the wire used to wind the coil. It is the linear velocity of the coil relative to the permanent magnet; the gyroscope linear velocity signal is detected. The signal-to-noise ratio is PSD displacement detection times, It is the jitter angular frequency. This scheme can reflect the true angular motion of the optical path and is the mainstream scheme for high-precision gyroscopes. However, this scheme has a complex structure, is difficult to assemble precisely, and occupies a lot of space. It is not conducive to the application of small-sized gyroscopes and redundant design, and at the same time reduces product reliability and production efficiency. Mechanical jitter frequency offset cannot completely eliminate the lock-in region; the gyroscope will still pass through the lock-in region twice in each jitter cycle, and the lock-in error is prone to continuous accumulation. To avoid error accumulation, random noise needs to be injected into the jitter drive signal at the moment when the gyroscope's rotational speed is zero and it passes through the lock-in region. However, noise injection can only randomize the error and cannot eliminate the lock-in error. Lock-in compensation is the core means to further compress the error, and the key to its engineering implementation is to accurately obtain the phase acceleration at the moment of passing through the lock-in region in real time. However, existing technologies cannot accurately measure this parameter, making it difficult to implement lock area compensation technology in engineering. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a method and apparatus for locking and jitter detection of a laser gyroscope based on acceleration, which solves the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a laser gyroscope region locking and jitter detection method based on acceleration, comprising the following steps: S1. Accelerometer sensor placement: The accelerometer sensor is fixed to the laser gyroscope body in some way, ensuring that its measurement sensing axis is aligned with the tangential direction of the gyroscope's rotation. parallel; S2, Signal Transmission: Connect the output signal of the accelerometer as the jitter detection signal to the jitter detection input of the jitter control system; S3. Reciprocating motion of the gyroscope: When the laser gyroscope vibrates, the gyroscope makes a small reciprocating motion along the sensitive axis of the accelerometer. S4. Signal Conversion: Due to the acceleration measurement value output by the accelerometer... With displacement The phases are opposite, therefore the output signal of the accelerometer needs to be inverted and amplified before being converted into signal X. The phase of signal X is related to the gyroscope jitter displacement. They are in phase and have the same waveform, which can be used as a driving signal to make the jitter mechanism resonate; S5. Signal Phase Shift Conversion and Input: Signal X is converted into signal V after a 90° phase shift; signal V is input to the zero-crossing detection module, and when a certain... When the speed signal V is detected to be crossing zero, a pseudo-random number is read from the noise list in the jitter control system's memory. After DA conversion, the random number is converted into a voltage value and summed with the amplitude of the jitter drive signal X to drive the jitter mechanism. This jitter amplitude noise method randomizes the phase lock of the laser gyroscope and reduces the accumulation of lock error. S6. Obtain the estimated value of phase acceleration: from the beat frequency formula. Knowing phase acceleration ;because , ,so So they used Indicates the overlocked area Phase acceleration at time t The measured values ​​are compared with those obtained through the Kalman filter algorithm. The predicted values ​​are fused to obtain an estimated value of phase acceleration, which is then input into the lock-in compensation module for lock-in compensation.

[0005] Furthermore, in step S3, the reciprocating motion includes: Displacement:

[0006] in, It is the displacement of the light spot; It is the angle of rotation of the gyroscope body; It is the amplitude of the jitter angle; yes Phase angle at time; This indicates the distance from the center of the gyroscope to the PSD. It is the jitter angular frequency; speed:

[0007] in, yes The linear velocity at time t; Acceleration: ; in, yes The linear acceleration at time t; and the acceleration The amplitude is the velocity amplitude Times is displacement Amplitude times, The value is between 2000 and 3000; moreover, the waveform of acceleration is similar to that of velocity and displacement, and the phase difference is constant. Therefore, the acceleration signal can be used as a jitter detection signal.

[0008] Furthermore, in step S5, the signal V and the jitter speed In phase and with consistent waveforms, it can be used for speed. Zero-crossing detection.

[0009] Furthermore, in step S5, at the speed Midnight At that time, the signal a is sampled by the AD sampling module to obtain the linear acceleration at the moment of passing through the lock zone. .

[0010] Furthermore, in step S5, DA conversion refers to converting discrete digital quantities into continuous analog quantities, that is, converting digital random numbers into continuous analog voltage values.

[0011] Furthermore, the AD sampling module is used to convert continuous analog electrical signals into discrete digital signals that can be recognized, calculated, and stored by a digital system.

[0012] Furthermore, in step S6, To generate a phase difference between two laser beams The derivative with respect to time represents the frequency difference between clockwise and counterclockwise light, i.e., the beat frequency; phase difference. It is directly proportional to the angle of rotation of the carrier, and the proportionality constant is: ; The angular velocity of the carrier rotating around the sensitive axis of the gyroscope; frequency difference. angular velocity of the carrier rotation Proportional.

[0013] Furthermore, in step S6, It is the phase acceleration within the locked region; Indicates angular acceleration; Angular velocity; Angular acceleration; .

[0014] The acceleration-based laser gyroscope region locking and jitter detection device applies the aforementioned acceleration-based laser gyroscope region locking and jitter detection method.

[0015] This invention provides a method and apparatus for locking and jitter detection of a laser gyroscope based on acceleration, which has the following beneficial effects: 1. This method and apparatus for detecting laser gyroscope lock-in and jitter based on acceleration utilizes the acceleration signal along the tangential direction of the laser gyroscope obtained from an accelerometer. This signal, after phase and amplitude processing, can be used for laser gyroscope jitter driving, jitter amplitude feedback and control, noise extraction, and phase acceleration at the lock-in moment. Extraction of measured values; compared to speed-based values. Electromagnetic induction jitter detection and displacement-based PSD jitter detection is performed by collecting acceleration data. The signal jitter detection sensitivity has been improved respectively Double times.

[0016] 2. The acceleration-based laser gyroscope locking region and jitter detection method and device are simple to assemble and occupy little space, which is conducive to the miniaturization design of laser gyroscopes and the redundant design of jitter detection mechanisms, thereby improving product accuracy and reliability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the mechanically jittered frequency-biased laser gyroscope of the present invention; Figure 2 This is a schematic diagram of the vibration detection mechanism of the present invention before assembly; Figure 3 This is a schematic diagram of the vibration detection mechanism of the present invention after assembly; Figure 4 This is a schematic diagram of the jitter detection mechanism and the gyroscope body assembled according to the present invention; Figure 5 This is a top view schematic diagram of the jitter detection mechanism and the gyroscope body assembled according to the present invention; Figure 6 This is a schematic diagram of the jitter displacement, velocity, and acceleration waveforms of the present invention; Figure 7This is a schematic diagram illustrating the jitter displacement, velocity, and acceleration process of the present invention; Figure 8 This is a functional block diagram of the jitter detection signal processing and control system of the present invention; Figure 9 This is a schematic diagram illustrating the zero-crossing velocity detection principle of the present invention; Figure 10 This is a schematic diagram of the redundant design of the jitter detection mechanism of the present invention.

[0018] In the figure: 1. Resonant cavity; 2. Jitter mechanism; 21. Piezoelectric ceramic; 4. Jitter detection mechanism; 41. Accelerometer chip; 42. PCB circuit board; 43. Electrical connector; 44. Flexible ribbon cable. Detailed Implementation

[0019] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0020] like Figures 1-10 As shown, the present invention provides a technical solution: a method and apparatus for locking and jitter detection of a laser gyroscope based on acceleration, such as... Figure 1 As shown, the laser gyroscope body consists of a resonant cavity 1 and a jitter mechanism 2. The jitter mechanism 2 is bonded to the resonant cavity 1 with epoxy resin. The jitter mechanism 2 generally includes three or more drive spokes. Each spoke has a piezoelectric ceramic 21 bonded to both sides with epoxy resin. All the piezoelectric ceramics 21 are welded together in parallel. When an alternating voltage is applied to both sides of the piezoelectric ceramics 21, each piezoelectric ceramic 21 undergoes mechanical deformation through the inverse piezoelectric effect, forcing the drive spokes to oscillate back and forth. The resonant cavity 1 of the laser gyroscope generates a reciprocating rotational motion around the central axis under the drive of the jitter mechanism 2, so that it works outside the lock zone most of the time. like Figures 2-3 As shown, the jitter detection mechanism 4 used in this embodiment is a MEMS accelerometer chip 41, whose size is approximately [missing information]. The accelerometer chip 41 is mounted on a PCB circuit board 42 via soldering. An electrical connector 43 is also mounted on the PCB circuit board 42 for connecting the accelerometer chip 41 to the jitter control circuit. The accelerometer chip 41, PCB circuit board 42, and electrical connector 43 constitute the jitter detection mechanism 4 in this embodiment. Figure 4As shown, the jitter detection mechanism 4 is bonded to the side of the laser gyroscope body with epoxy resin. During bonding, it is ensured that the measurement direction of the accelerometer chip 41 is perpendicular to the sensitive axis (z-axis) of the laser gyroscope. The jitter detection mechanism 4 is connected to the jitter control circuit through the electrical connector 43 and the flexible ribbon cable 44. The jitter control circuit supplies power to the accelerometer chip 41 through the flexible ribbon cable 44 (the voltage is generally 2-7V), and at the same time receives the linear acceleration signal measured by the accelerometer chip 41. When the laser gyroscope body undergoes mechanical jittering motion driven by the jittering mechanism 2, due to the very small jitter amplitude (approximately 2 arcminutes), the motion of the jitter detection mechanism 4 can be approximated as a one-dimensional simple harmonic motion, and its displacement... ,speed acceleration Where R is the distance from the center of the gyroscope body to the jitter detection mechanism 4 (e.g., ... Figure 5 (as shown) It is the angle of rotation of the gyroscope itself. This is the jitter angular frequency, with a value of approximately 2000-3000, therefore the acceleration... The amplitude is the displacement amplitude Times is speed amplitude This shows that detecting jitter acceleration is more sensitive than detecting jitter velocity and displacement; Displacement ,speed acceleration Phase relationship as follows Figures 6-7 As shown, the velocity and displacement are 90° out of phase, and the acceleration and displacement are 180° out of phase. Therefore, the acceleration waveform can be converted into displacement and velocity waveforms through phase manipulation. The functional block diagram of the control system for phase acceleration measurement and jitter detection within the lock zone based on an accelerometer is as follows: Figure 8 As shown, based on Figure 8 The jitter detection mechanism 4 is explained in detail below as follows: it implements jitter driving, zero-crossing speed detection, and extraction of phase acceleration measurement values ​​in the lock zone. (1) Jitter drive and jitter control First, the frequency sweep excitation module generates an AC voltage whose frequency varies with time and applies it to the jittering mechanism 2. Then, the connection with the jittering mechanism 2 is disconnected. The quality factor of the jittering mechanism 2 is very high (generally around 150-200), and only AC voltages with frequencies very close to its natural frequency can cause it to resonate. When the frequency sweeps past the resonant frequency of the jittering mechanism 2, the jitter amplitude increases significantly. The jitter detection mechanism 4 detects the acceleration signal of the jitter, and is sensitive to minute jitters, amplifying the jitter amplitude signal. Times, output as Figure 6The acceleration signal shown is amplified and filtered by a preamplifier to generate signal A. After passing through an inverting amplifier circuit, signal A is phase-shifted by 180° and transformed into signal X, which is in phase with the displacement. Signal X can be used as a driving waveform signal or as a jitter feedback signal. The jitter amplitude PID control circuit adjusts the amplitude of the driving waveform signal X according to the magnitude of the feedback signal X and drives the jitter mechanism 2 to work, ensuring stable jitter amplitude. Since the waveform signal X is generated by the self-excited oscillation of the jitter mechanism 2, its frequency is consistent with the natural frequency of the jitter mechanism 2. Therefore, the jitter mechanism 2 can maintain resonance, so that electrical energy is converted into mechanical energy with maximum efficiency. (2) Zero-crossing speed detection Signal X is converted into signal V, whose phase is in phase with the velocity, by a 90° phase-shifting circuit. Signal V then enters... Figure 7 The zero-crossing detection module shown outputs a high level when signal V is positive, a low level when signal V is negative, and a rising or falling edge when signal V is zero, indicating that the gyroscope is passing through the zero velocity point (midpoint of the lock zone). The signal output after zero-crossing detection is input to the external interrupt IO port of the microprocessor. When the square wave signal has a rising or falling edge, a noise injection interrupt program is triggered. This program reads a pseudo-random number from the pseudo-random noise list in the memory, and then converts it into a random voltage through a DA converter. This random voltage is injected into the jitter drive circuit to randomly adjust the amplitude of the jitter drive voltage, thereby causing random changes in the jitter amplitude of the jitter mechanism 2. This random disturbance is injected when the jitter speed is zero, that is, when the lock zone is passed, which can randomize the phase difference between the clockwise and counterclockwise pointers when the laser gyroscope passes through the lock zone and avoid the accumulation of lock zone error. (3) Extraction of phase acceleration measurement values ​​in the overlock zone From the beat frequency formula It can be known ,in It represents angular acceleration, because , ,so It is linear acceleration, so it can be used Represents phase acceleration The measured value; When signal V passes through, as shown in the example Figure 9 The zero-crossing detection module shown generates a square wave. A rising or falling edge of the square wave indicates that the velocity has passed the zero velocity point; this moment can be considered the moment of crossing the lock zone. The microprocessor's external interrupt I / O port is triggered by a rising or falling edge to run an acceleration sampling interrupt routine. This interrupt routine samples the acceleration signal at the zero-crossing moment using an AD converter to obtain the linear acceleration at that moment. This value is input into the phase acceleration module, and through multiplication, the result is obtained. It represents phase acceleration. At the midpoint of the lock region The measured value; Phase acceleration at the moment of crossing the lock region It can be used for lock zone error compensation. This value can be theoretically estimated, but the accuracy is not high. In this implementation case, the phase acceleration in the lock zone can be measured, and then the theoretical estimate and the measured value are fused through the Kalman filter algorithm, thereby improving the accuracy of the overlock phase acceleration value, which is conducive to improving the accuracy of lock zone compensation, further compressing the lock zone, and improving the accuracy of the laser gyroscope. As can be seen from the above description, the jitter detection mechanism 4 described in this implementation case not only provides the driving waveform but also the amplitude feedback signal in the jitter frequency offset control system; it can provide the jitter speed signal in the jitter amplitude noise addition stage; and it can provide the phase acceleration measurement value when passing through the lock zone in the lock zone compensation system. One sensor performs multiple functions. In contrast, previous small gyroscopes often used the piezoelectric effect for jitter detection due to space constraints. This method reduces the driving capability of the jitter mechanism 2 and causes uneven force on the spokes. The jitter detection mechanism 4 in this embodiment is small in size, making it well-suited for use in miniaturized gyroscopes. It eliminates the need for the piezoelectric ceramic 21 in the jitter mechanism 2 to detect jitter, thus improving the gyroscope's accuracy and stability. This embodiment can also incorporate redundant design elements, such as... Figure 10 As shown, the gyroscope body is equipped with two jitter detection mechanisms 4, one for backup and one for use, which helps to improve product reliability.

[0021] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A laser gyroscope region locking and jitter detection method based on acceleration, characterized in that: Includes the following steps: S1. Accelerometer sensor placement: The accelerometer sensor is fixed to the laser gyroscope body in some way, ensuring that its measurement sensing axis is aligned with the tangential direction of the gyroscope's rotation. parallel; S2, Signal Transmission: Connect the output signal of the accelerometer as the jitter detection signal to the jitter detection input of the jitter control system; S3. Reciprocating motion of the gyroscope: When the laser gyroscope vibrates, the gyroscope makes a small reciprocating motion along the sensitive axis of the accelerometer. S4. Signal Conversion: Due to the acceleration measurement value output by the accelerometer... With displacement The phases are opposite, therefore the output signal of the accelerometer needs to be inverted and amplified to convert it into signal X. The phase of signal X is related to the gyroscope jitter displacement. They are in phase and have the same waveform, which can be used as a driving signal to make the jitter mechanism resonate; S5. Signal Phase Shift Conversion and Input: Signal X is converted into signal V after a 90° phase shift; signal V is input to the zero-crossing detection module, and when a certain... When the speed signal V is detected to be crossing zero, a pseudo-random number is read from the noise list in the memory of the jitter control system. After DA conversion, the random number is converted into a voltage value and summed with the amplitude of the jitter drive signal X to drive the jitter mechanism. By using this amplitude dithering noise reduction method, the phase of the laser gyroscope's locked region is randomized, reducing the accumulation of locked region error; S6. Obtain the estimated value of phase acceleration: from the beat frequency formula. Knowing phase acceleration ;because , ,so So they used Indicates the overlocked area Phase acceleration at time t The measured values ​​are compared with those obtained through the Kalman filter algorithm. The predicted values ​​are fused to obtain an estimated value of phase acceleration, which is then input into the lock-in compensation module for lock-in compensation.

2. The method for locking and jitter detection of a laser gyroscope based on acceleration according to claim 1, characterized in that: In step S3, the reciprocating motion includes: Displacement: in, It is the displacement of the light spot; It is the angle of rotation of the gyroscope body; It is the amplitude of the jitter angle; yes Phase angle at time; This indicates the distance from the center of the gyroscope to the PSD. It is the jitter angular frequency; speed: in, yes The linear velocity at time t; Acceleration: ; in, yes The linear acceleration at time t; and the acceleration The amplitude is the velocity amplitude Times is displacement Amplitude times, The value is between 2000 and 3000; moreover, the waveform of acceleration is similar to that of velocity and displacement, and the phase difference is constant. Therefore, the acceleration signal can be used as a jitter detection signal.

3. The method for locking and jitter detection of a laser gyroscope based on acceleration according to claim 1, characterized in that: In step S5, the signal V and the jitter speed In phase and with consistent waveforms, it can be used for speed. Zero-crossing detection.

4. The method for locking and jitter detection of a laser gyroscope based on acceleration according to claim 1, characterized in that: In step S5, at speed Midnight At that time, the signal a is sampled by the AD sampling module to obtain the linear acceleration at the moment of passing through the lock zone. .

5. The method for locking and jitter detection of a laser gyroscope based on acceleration according to claim 1, characterized in that: In step S5, DA conversion refers to converting discrete digital quantities into continuous analog quantities, that is, converting digital random numbers into continuous analog voltage values.

6. The acceleration-based laser gyroscope region locking and jitter detection method according to claim 4, characterized in that: The AD sampling module is used to convert continuous analog electrical signals into discrete digital signals that can be recognized, calculated, and stored by a digital system.

7. The method for locking and jitter detection of a laser gyroscope based on acceleration according to claim 1, characterized in that: In step S6 To generate a phase difference between two laser beams The derivative with respect to time represents the frequency difference between clockwise and counterclockwise light, i.e., the beat frequency; phase difference. It is directly proportional to the angle of rotation of the carrier, and the proportionality constant is: ; The angular velocity of the carrier rotating around the sensitive axis of the gyroscope; frequency difference. angular velocity of the carrier rotation Proportional.

8. The method for locking and jitter detection of a laser gyroscope based on acceleration according to claim 1, characterized in that: In step S6 It is the phase acceleration within the locked region; Indicates angular acceleration; Angular velocity; Angular acceleration; .

9. A laser gyroscope region locking and jitter detection device based on acceleration, characterized in that: The acceleration-based laser gyroscope region locking and jitter detection device uses the acceleration-based laser gyroscope region locking and jitter detection method as described in any one of claims 1-8.

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