A method and system for suppressing reset noise of a resonator optical gyroscope based on sinusoidal bias modulation

Abstract

This invention discloses a method and system for suppressing reset noise in a resonant optical gyroscope based on sinusoidal bias modulation, belonging to the field of optical gyroscope signal processing technology. After detecting a sawtooth wave reset trigger signal, a replacement window covering the spike noise-affected region is determined based on the determinable timing relationship between the trigger signal and the spike noise in the detector's sampled signal. Within the replacement window, historical sampling data from the previous modulation cycle or several previous modulation cycles is used to replace the real-time sampling data. After the replacement window ends, the real-time sampling data is restored, and phase-locked demodulation and closed-loop control are performed on the replaced sampling data. The replacement window can cover one or more sinusoidal bias modulation cycles, and the historical data buffer depth matches the number of sampling points within the corresponding modulation cycle. This invention eliminates the need for complex compensation of the original demodulation link and can suppress spike noise propagation caused by sawtooth wave reset while maintaining the integrity of the sinusoidal bias modulation cycle.

Description

Technical Field

[0001] This invention belongs to the field of optical gyroscope signal processing technology, specifically relating to a method and system for suppressing reset noise in a resonant optical gyroscope based on sinusoidal bias modulation. Background Technology

[0002] Resonant optical gyroscopes utilize the difference in resonant characteristics of a resonant cavity to sense angular velocity in clockwise and counterclockwise propagating light waves, combining the high sensitivity of traditional optical gyroscopes with the advantages of miniaturization and integration. To balance a large dynamic range with high-precision detection, resonant optical gyroscopes typically employ a digital closed-loop detection scheme. In this scheme, sinusoidal bias modulation is used to achieve the periodic bias required for demodulation, while sawtooth wave feedback modulation generates an equivalent frequency shift to compensate for the Sagnac frequency difference caused by rotation.

[0003] However, in practical systems, the reset process of the sawtooth wave feedback modulation signal is not an ideal instantaneous reset. Limited by factors such as the digital-to-analog converter update rate, drive circuit bandwidth, phase modulator response characteristics, and system loop delay, the sawtooth wave introduces non-ideal transients during reset, resulting in spike pulses in the detector's sampled signal. After phase-locked demodulation and low-pass filtering, these spike pulses form broadened pulses in the demodulated output, thereby disturbing the closed-loop control and deteriorating the gyroscope's output stability.

[0004] For square wave bias or bipolar sawtooth wave bias modulation systems, reset interference can be avoided through chopping, sample-and-hold, or other methods. However, for resonant optical gyroscopes using sinusoidal wave bias modulation, directly chopping or holding the reset period can easily disrupt the integrity of the sinusoidal modulation period, leading to distortion of the amplitude and phase information required for subsequent phase-locked demodulation. Therefore, how to suppress sawtooth wave reset noise while maintaining the integrity of the sinusoidal modulation signal period has become a technical problem to be solved. Summary of the Invention

[0005] This invention provides a method and system for suppressing reset noise in a resonant optical gyroscope based on sinusoidal bias modulation. It addresses the technical problem that in existing sinusoidal bias modulated resonant optical gyroscopes, reset noise caused by sawtooth wave feedback modulation during closed-loop operation propagates to the demodulation and closed-loop control links, thereby reducing the stability of the gyroscope output.

[0006] This invention is achieved through the following technical solution: A method for suppressing reset noise of a resonant optical gyroscope based on sinusoidal bias modulation, the method comprising the following steps: Step S1: Collect photoelectric detection signals and perform analog-to-digital conversion to obtain real-time sampling data; Step S2: Write the real-time sampling data obtained in step S1 into the historical data buffer; Step S3: Detect the reset trigger signal of the sawtooth wave feedback modulation signal; Step S4: Determine the replacement window covering the area affected by peak noise based on the reset trigger signal; Step S5: Within the replacement window determined in step S4, call historical sampling data from the previous modulation cycle or several previous modulation cycles to replace the real-time sampling data. Step S6: After the replacement window determined in step S4 ends, resume outputting real-time sampling data; Step S7: Perform phase-locked demodulation and closed-loop control on the sampled data after replacement in step S5.

[0007] Furthermore, the reset trigger signal in step S3 is obtained through the overflow signal of the sawtooth wave phase accumulator.

[0008] Furthermore, step S4 specifically involves determining the starting position of the replacement window based on the preset time interval between the reset trigger signal and the occurrence of the spike noise, and determining the duration of the replacement window based on the duration of the spike noise or the preset number of modulation cycles, so that the replacement window covers the spike noise influence range.

[0009] Furthermore, the historical sampling data called in step S5 is the sampling data of the phase position corresponding to the current replacement window in the previous modulation period or several previous modulation periods, and the replacement window covers one or more sinusoidal bias modulation periods.

[0010] A resonant optical gyroscope reset noise suppression system based on sinusoidal bias modulation is disclosed. The resonant optical gyroscope reset noise suppression system is based on the aforementioned resonant optical gyroscope reset noise suppression method based on sinusoidal bias modulation. The resonant optical gyroscope reset noise suppression system includes a photodetector, an analog-to-digital converter (ADC), a pre-conditioning module, and an FPGA module. The photodetector is connected to the pre-conditioner, the pre-conditioner is connected to the analog-to-digital converter (ADC), and the ADC is connected to the FPGA module. The FPGA module includes a data buffer, a data selector, a replacement state machine, a reset edge detection module, a feedback sawtooth wave generation module, a PI module, and a demodulation and filtering module. The analog-to-digital converter (ADC) module is connected to a data buffer and a data selector, respectively. The data buffer is connected to the data selector. The reset edge detection module is connected to a replacement state machine. The replacement state machine is connected to the data selector. The data selector is connected to a demodulation and filtering module. The demodulation and filtering module is connected to a PI module. The PI module is connected to a feedback sawtooth wave generation module.

[0011] Furthermore, the photodetector is used to detect the interference light signal of the resonant optical gyroscope and output an electrical signal; The preconditioning is used to perform preliminary processing on the electrical signal output by the photodetector; The analog-to-digital converter (ADC) module is used to sample and convert the pre-processed electrical signal to obtain real-time sampled data. The FPGA module is used to replace real-time sampled data with historical periodic data within the reset noise influence range, thereby suppressing sawtooth reset noise without destroying the integrity of the sinusoidal bias modulation period.

[0012] Furthermore, the data buffer is used to temporarily store data from the previous cycle or data from several previous cycles; The data selector is used to select the input signal and receive the ADC data of the current cycle and the ADC data of the previous cycle. The replacement state machine is used to output a selection control signal; The reset edge detection module is used to monitor the reset signal; The feedback sawtooth wave generation module is used to generate a sawtooth wave with a variable frequency according to the set parameters. The PI module is used to receive the demodulated signal and calculate the control quantity. The PI algorithm is used to eliminate steady-state error, so that the system can quickly reach and stabilize at the set state. The demodulation and filtering module uses digital algorithms to extract the amplitude information of the useful signal from the signal.

[0013] Furthermore, the real-time data from the analog-to-digital converter (ADC) module sent to the FPGA is split into two paths: one path is directly fed into the data selector as the current real-time sampling data; the other path is stored in the data buffer, and after a delay, it becomes the data of the previous cycle. The data buffer also sends the temporarily stored data from the previous cycle of the ADC module to the data selector.

[0014] Furthermore, after receiving the optical signal, the photodetector converts it into a weak analog electrical signal. The analog electrical signal is first amplified and filtered by the pre-conditioning circuit, and then enters the analog-to-digital converter (ADC) to convert the analog signal into a digital signal, which is marked as real-time ADC data and sent to the FPGA for processing. The real-time ADC data sent to the FPGA is split into two paths. The data selector filters the data according to the control signal and enters the demodulation and filtering module for calculation. The demodulated effective signal is sent to the PI controller for proportional-integral calculation. The control quantity calculated by the PI controller is sent to the feedback sawtooth wave generation module, and the sawtooth wave generated by the feedback sawtooth wave generation module is sent to the reset edge detection module. The reset edge detection module monitors the reset signal in real time. Once a valid edge is detected, it will immediately trigger the replacement state machine. The data selector switches between the current cycle data and the previous cycle data according to the selection control signal issued by the state machine.

[0015] A resonant optical gyroscope reset noise suppression system based on sinusoidal bias modulation, as described above, is applied to the field of reset noise generated by the equivalent frequency shift of sawtooth waves used in closed-loop implementation.

[0016] The beneficial effects of this invention are: This invention utilizes the deterministic timing relationship between reset trigger and spike noise to determine the replacement window, eliminating the need to construct an additional complex noise compensation model.

[0017] This invention replaces real-time sampling data with historical periodic data within the replacement window, which can suppress the propagation of reset spikes while maintaining the integrity of the sinusoidal bias modulation period.

[0018] The replacement window of this invention can cover one or more modulation periods, and can adapt to different peak durations.

[0019] This invention is applicable to resonant micro-optical gyroscopes driven by broadband light sources, as well as other resonant optical gyroscopes that employ sinusoidal bias modulation and sawtooth feedback modulation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a resonant optical gyroscope structure in the prior art.

[0021] Figure 2 This is a schematic diagram of the sawtooth wave reset noise generation mechanism in existing technologies.

[0022] Figure 3 This is a schematic diagram of the FPGA-based full-cycle replacement implementation structure of the present invention.

[0023] Figure 4 This is a timing diagram of the whole-cycle replacement method of the present invention.

[0024] Figure 5 This is a flowchart of the reset noise suppression method of the present invention. Detailed Implementation

[0025] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0026] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0027] It should also be understood that the terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0028] The following is in conjunction with the appendix to this application specification. Figure 1-5 The technical solutions in the embodiments of this application are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0029] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0030] Implementation Method 1 This embodiment provides a method for suppressing reset noise in a resonant optical gyroscope based on sinusoidal bias modulation, such as... Figure 5 As shown, the resonant optical gyroscope reset noise suppression method includes the following steps: Step S1: Collect photoelectric detection signals and perform analog-to-digital conversion to obtain real-time sampling data; Step S2: Write the real-time sampling data obtained in step S1 into the historical data buffer; Step S3: Detect the reset trigger signal of the sawtooth wave feedback modulation signal; Step S4: Determine the replacement window covering the area affected by peak noise based on the reset trigger signal; Step S5: Within the replacement window determined in step S4, call historical sampling data from the previous modulation cycle or several previous modulation cycles to replace the real-time sampling data. Step S6: After the replacement window determined in step S4 ends, resume outputting real-time sampling data; Step S7: Perform phase-locked demodulation and closed-loop control on the sampled data after replacement in step S5.

[0031] Furthermore, the reset trigger signal in step S3 is obtained through the overflow signal of the sawtooth wave phase accumulator.

[0032] Furthermore, step S4 specifically involves determining the starting position of the replacement window based on the preset time interval between the reset trigger signal and the occurrence of the spike noise, and determining the duration of the replacement window based on the duration of the spike noise or the preset number of modulation cycles, so that the replacement window covers the spike noise influence range.

[0033] Furthermore, the historical sampling data called in step S5 is the sampling data of the phase position corresponding to the current replacement window in the previous modulation period or several previous modulation periods, and the replacement window covers one or more sinusoidal bias modulation periods.

[0034] In one specific implementation, an FPGA can be used to implement the functions of historical data buffering, reset edge detection, replacement window determination, and data selection. The analog-to-digital conversion module and the digital-to-analog conversion module are connected to the photodetector and the phase modulator, respectively. Taking a resonant micro-optical gyroscope driven by a broadband light source as an example, the system uses sinusoidal bias modulation and sawtooth feedback modulation. Experimentally, the time interval between the reset trigger signal and the appearance of spike noise in the ADC sampling signal is approximately 110 ns. This 110 ns is only the experimental calibration result of this embodiment and does not constitute a limitation on the scope of protection of this invention. After determining the replacement window based on this timing relationship, spike noise suppression can be completed within one modulation cycle; for systems with longer spike durations, the replacement window can also be extended to multiple modulation cycles.

[0035] Implementation Method 2 This embodiment provides a resonant optical gyroscope reset noise suppression system based on sinusoidal bias modulation. The resonant optical gyroscope reset noise suppression system is based on the resonant optical gyroscope reset noise suppression method based on sinusoidal bias modulation described in Embodiment 1. The resonant optical gyroscope reset noise suppression system includes a photodetector, an analog-to-digital converter (ADC), a pre-conditioning module, and an FPGA module. The photodetector is connected to the pre-conditioner, the pre-conditioner is connected to the analog-to-digital converter (ADC), and the ADC is connected to the FPGA module. The FPGA module includes a data buffer, a data selector, a replacement state machine, a reset edge detection module, a feedback sawtooth wave generation module, a PI module, and a demodulation and filtering module. The analog-to-digital converter (ADC) module is connected to a data buffer and a data selector, respectively. The data buffer is connected to the data selector. The reset edge detection module is connected to a replacement state machine. The replacement state machine is connected to the data selector. The data selector is connected to a demodulation and filtering module. The demodulation and filtering module is connected to a PI module. The PI module is connected to a feedback sawtooth wave generation module.

[0036] Furthermore, the photodetector is used to detect the interference light signal of the resonant optical gyroscope and output an electrical signal; The preconditioning is used to perform preliminary processing on the electrical signal output by the photodetector; The analog-to-digital converter (ADC) module is used to sample and convert the pre-processed electrical signal to obtain real-time sampled data. The FPGA module is used to replace real-time sampled data with historical periodic data within the reset noise influence range, thereby suppressing sawtooth reset noise without destroying the integrity of the sinusoidal bias modulation period.

[0037] The data buffer is used to store the sampled data of the previous modulation cycle or several previous modulation cycles, and to provide historical sampled data to the data selector; The reset edge detection module is used to detect the reset trigger signal of the sawtooth wave feedback modulation signal; The replacement window determination module is used to determine the starting position and duration of the replacement window based on the reset trigger signal, and to generate a replacement window signal; The data selector is used to receive real-time sampling data and historical sampling data, and selects to output historical sampling data or real-time sampling data according to the replacement window signal; The digital signal processing unit is used to demodulate and perform closed-loop control on the replaced sampled data.

[0038] Furthermore, the data buffer is used to temporarily store data from the previous cycle or data from several previous cycles; The data selector is used to select the input signal and receive the ADC data of the current cycle and the ADC data of the previous cycle. The replacement state machine is used to output a selection control signal; The reset edge detection module is used to monitor the reset signal; The feedback sawtooth wave generation module is used to generate a sawtooth wave with a variable frequency according to the set parameters. The PI module is used to receive the demodulated signal and calculate the control quantity. The PI algorithm is used to eliminate steady-state error, so that the system can quickly reach and stabilize at the set state. The demodulation and filtering module uses digital algorithms to extract the amplitude information of the useful signal from the signal.

[0039] Furthermore, the real-time data from the analog-to-digital converter (ADC) module sent to the FPGA is divided into two paths: one path is directly fed into the data selector as the current real-time sample number; the other path is stored in the data buffer, and after a delay, it becomes the data of the previous cycle. The data buffer also sends the temporarily stored data from the previous cycle of the ADC module to the data selector.

[0040] Furthermore, after receiving the optical signal, the photodetector converts it into a weak analog electrical signal. The analog electrical signal is first amplified and filtered by the pre-conditioning circuit, and then enters the analog-to-digital converter (ADC) to convert the analog signal into a digital signal, which is marked as real-time ADC data and sent to the FPGA for processing. The real-time ADC data sent to the FPGA is split into two paths. The data selector filters the data according to the control signal and enters the demodulation and filtering module for calculation. The demodulated effective signal is sent to the PI controller for proportional-integral calculation. The control quantity calculated by the PI controller is sent to the feedback sawtooth wave generation module, and the sawtooth wave generated by the feedback sawtooth wave generation module is sent to the reset edge detection module. The reset edge detection module monitors the reset signal in real time. Once a valid edge is detected, it will immediately trigger the replacement state machine. The data selector switches between the current cycle data and the previous cycle data according to the selection control signal issued by the state machine.

[0041] like Figure 1 As shown, the resonant optical gyroscope includes a light source, a coupler, a phase modulator, a resonant cavity, a photodetector, and a digital signal processing unit. Light emitted from the light source is split by the coupler and propagates into the resonant cavity in clockwise and counterclockwise directions respectively. The returning light signal is then coupled and interfered with before being converted into an electrical signal by the photodetector. The digital signal processing unit includes a phase-locked demodulation link, a controller, and functional modules for generating sinusoidal bias modulation signals and sawtooth feedback modulation signals. The phase modulator simultaneously receives both the sinusoidal bias modulation signal and the sawtooth feedback modulation signal to complete bias modulation and closed-loop feedback frequency shifting.

[0042] like Figure 2As shown in the reset noise mechanism, ideally, the sawtooth wave should complete an instantaneous reset at the end of each cycle. However, in actual systems, the sawtooth wave reset has a finite transition time. This non-ideal reset introduces short-time abnormal components into the equivalent instantaneous frequency shift and forms spike pulses in the detector output through the multi-turn propagation characteristics of the resonant cavity. After entering the demodulation link, these spike pulses form broadened pulse signals in the demodulation output, thus affecting the stability of the closed-loop control.

[0043] like Figure 3 As shown in the full-cycle replacement implementation, the analog signal output by the photodetector is pre-conditioned and then sent to the analog-to-digital converter to obtain real-time sampled data. The real-time sampled data is written to the data buffer and simultaneously sent to the data selector. The reset edge detection module is used to obtain the reset trigger signal of the sawtooth wave feedback modulation signal. The replacement window determination module determines the start position and duration of the replacement window based on this reset trigger signal and outputs the replacement window control signal. Within the replacement window, the data selector calls historical data from the previous cycle or several previous cycles in the data buffer to replace the real-time sampled data. After the window ends, it resumes outputting real-time sampled data, and then sends the replaced sampled data to the phase-locked demodulation and closed-loop control module.

[0044] The starting position of the replacement window can be determined based on a preset time interval between the reset trigger signal and the occurrence of the spike noise; the duration of the replacement window can be determined based on the duration of the spike noise or a preset number of modulation cycles. When the spike noise influence range is short, the replacement window can cover one sinusoidal bias modulation cycle; when the spike noise influence range is long, the replacement window can also cover two or more sinusoidal bias modulation cycles.

[0045] like Figure 4 As shown in the timing diagram, after detecting the reset trigger signal, the system determines the starting position of the replacement window based on a preset time interval Δt, and the ending position of the replacement window based on the duration of the spike. The real-time ADC signal exhibits abnormal waveforms within the spike noise affected region, while the historical periodic signal represents normal sampled data from the same phase position in the previous cycle or several previous cycles. The data selector outputs the historical periodic signal within the replacement window and the real-time ADC signal outside the replacement window, thus obtaining a continuous output signal free from reset spike interference.

[0046] Implementation Method 3 This embodiment provides a resonant optical gyroscope reset noise suppression system based on sinusoidal bias modulation as described in Embodiment 2. The resonant optical gyroscope reset noise suppression system is applied to the field of reset noise generated by the equivalent frequency shift of sawtooth waves used in the closed-loop implementation process.

Claims

1. A method for suppressing reset noise of a resonant optical gyroscope based on sinusoidal bias modulation, characterized in that, The resonant optical gyroscope reset noise suppression method includes the following steps: Step S1: Collect photoelectric detection signals and perform analog-to-digital conversion to obtain real-time sampling data; Step S2: Write the real-time sampling data obtained in step S1 into the historical data buffer; Step S3: Detect the reset trigger signal of the sawtooth wave feedback modulation signal; Step S4: Determine the replacement window covering the area affected by peak noise based on the reset trigger signal; Step S5: Within the replacement window determined in step S4, call historical sampling data from the previous modulation cycle or several previous modulation cycles to replace the real-time sampling data. Step S6: After the replacement window determined in step S4 ends, resume outputting real-time sampling data; Step S7: Perform phase-locked demodulation and closed-loop control on the sampled data after replacement in step S5.

2. The resonant optical gyroscope reset noise suppression method according to claim 1, characterized in that, The reset trigger signal in step S3 is obtained through the overflow signal of the sawtooth wave phase accumulator.

3. The method for suppressing reset noise of a resonant optical gyroscope according to claim 1, characterized in that, Specifically, step S4 involves determining the starting position of the replacement window based on the preset time interval between the reset trigger signal and the occurrence of spike noise, and determining the duration of the replacement window based on the duration of spike noise or the preset number of modulation cycles, so that the replacement window covers the spike noise influence range.

4. The method for suppressing reset noise of a resonant optical gyroscope according to claim 1, characterized in that, The historical sampling data called in step S5 is the sampling data of the phase position corresponding to the current replacement window in the previous modulation period or several previous modulation periods, and the replacement window covers one or more sinusoidal bias modulation periods.

5. A resonant optical gyroscope reset noise suppression system based on sinusoidal bias modulation, characterized in that, The resonant optical gyroscope reset noise suppression system is based on the resonant optical gyroscope reset noise suppression method based on sinusoidal bias modulation as described in any one of claims 1-4. The resonant optical gyroscope reset noise suppression system includes a photodetector, an analog-to-digital converter (ADC), a pre-conditioning module, and an FPGA module. The photodetector is connected to the pre-conditioner, the pre-conditioner is connected to the analog-to-digital converter (ADC), and the ADC is connected to the FPGA module. The FPGA module includes a data buffer, a data selector, a replacement state machine, a reset edge detection module, a feedback sawtooth wave generation module, a PI module, and a demodulation and filtering module. The analog-to-digital converter (ADC) module is connected to a data buffer and a data selector, respectively. The data buffer is connected to the data selector. The reset edge detection module is connected to a replacement state machine. The replacement state machine is connected to the data selector. The data selector is connected to a demodulation and filtering module. The demodulation and filtering module is connected to a PI module. The PI module is connected to a feedback sawtooth wave generation module.

6. The resonant optical gyroscope reset noise suppression system according to claim 5, characterized in that, The photodetector is used to detect the interference light signal of the resonant optical gyroscope and output an electrical signal; The preconditioning is used to perform preliminary processing on the electrical signal output by the photodetector; The analog-to-digital converter (ADC) module is used to sample and convert the pre-processed electrical signal to obtain real-time sampled data. The FPGA module is used to replace real-time sampled data with historical periodic data within the reset noise influence range, thereby suppressing sawtooth reset noise without destroying the integrity of the sinusoidal bias modulation period.

7. The resonant optical gyroscope reset noise suppression system according to claim 5, characterized in that, The data buffer is used to temporarily store data from the previous cycle or data from several previous cycles. The data selector is used to select the input signal and receive the ADC data of the current cycle and the ADC data of the previous cycle. The replacement state machine is used to output a selection control signal; The reset edge detection module is used to monitor the reset signal; The feedback sawtooth wave generation module is used to generate a sawtooth wave with a variable frequency according to the set parameters. The PI module is used to receive the demodulated signal and calculate the control quantity. The PI algorithm is used to eliminate steady-state error, so that the system can quickly reach and stabilize at the set state. The demodulation and filtering module uses digital algorithms to extract the amplitude information of the useful signal from the signal.

8. The resonant optical gyroscope reset noise suppression system according to claim 7, characterized in that, The real-time data from the analog-to-digital converter (ADC) module is split into two paths when it is sent to the FPGA: one path is directly fed into the data selector as the current real-time sampling data; the other path is stored in the data buffer, and after a delay, it becomes the data of the previous cycle. The data buffer also sends the temporarily stored data from the ADC module of the previous cycle to the data selector.

9. The resonant optical gyroscope reset noise suppression system according to claim 8, characterized in that, After receiving the light signal, the photodetector converts it into a weak analog electrical signal. The analog electrical signal is first amplified and filtered by the pre-conditioning circuit, and then enters the analog-to-digital converter (ADC) to convert the analog signal into a digital signal, which is marked as real-time ADC data and sent to the FPGA for processing. The real-time analog-to-digital converter (ADC) data sent to the FPGA is split into two paths; The data selector selects the data according to the control signal and enters the demodulation and filtering module for calculation. The demodulated effective signal is sent to the PI controller for proportional-integral calculation. The control quantity calculated by the PI controller is sent to the feedback sawtooth wave generation module, and the sawtooth wave generated by the feedback sawtooth wave generation module is sent to the reset edge detection module. The reset edge detection module monitors the reset signal in real time. Once a valid edge is detected, it will immediately trigger the replacement state machine. The data selector switches between the current cycle data and the previous cycle data according to the selection control signal issued by the state machine.

10. A resonant optical gyroscope reset noise suppression system based on sinusoidal bias modulation as described in any one of claims 5-9, characterized in that, The resonant optical gyroscope reset noise suppression system described above is applied to the field of reset noise generated by the equivalent frequency shift of sawtooth waves used in the closed-loop implementation process.

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