1. A resonant fiber optic gyroscope is characterized by comprising an angular velocity information processing module, a first optical signal processor connected with the angular velocity information processing module, and a second optical signal processor connected with the angular velocity information processing module;

the first optical signal processor is used for sending first demodulation information to the angular velocity information processing module;

the second optical signal processor is used for sending second demodulation information to the angular velocity information processing module;

the angular velocity information processing module is used for carrying out noise reduction processing on the fluctuating noise in the first demodulation information by adopting second demodulation information to obtain third demodulation information, and determining the angular velocity by adopting the third demodulation information.

2. The resonant fiber-optic gyroscope of claim 1, wherein the angular velocity information processing module is configured to perform noise reduction processing on the fluctuating noise in the first demodulation information by using the second demodulation information as a noise reference value to obtain third demodulation information, and determine the angular velocity by using the third demodulation information.

3. The resonant fiber optic gyroscope of claim 1, further comprising a first optical signal transmitter connected to the first optical signal processor, a second optical signal transmitter connected to the second optical signal processor, and a ring resonator connected to the first optical signal transmitter and the second optical signal transmitter;

the first optical signal transmitter is used for sending a second optical signal to the ring-shaped resonant cavity, acquiring a first optical signal returned by the ring-shaped resonant cavity and sending the first optical signal to the first optical signal processor;

the second optical signal transmitter is used for sending a first optical signal to the ring-shaped resonant cavity, acquiring a second optical signal returned by the ring-shaped resonant cavity and sending the second optical signal to the second optical signal processor;

the first optical signal processor is further configured to convert the first optical signal into first demodulation information;

the second optical signal processor is further configured to convert the second optical signal into second demodulation information.

4. The resonant fiber optic gyroscope of claim 3, further comprising a beam splitter connected to the first optical signal transmitter and the second optical signal transmitter, and a light source emitter connected to the beam splitter;

the light source transmitter is used for determining the light source frequency of a light source signal based on the second modulation information and transmitting the light source signal to the beam splitter by adopting the light source frequency;

the beam splitter is used for splitting the light source signal into a first optical signal and a second optical signal, sending the first optical signal to a second optical signal transmitter, and sending the second optical signal to the first optical signal transmitter.

5. The resonant fiber optic gyroscope of claim 4, further comprising an optical isolator disposed between the light source emitter and the beam splitter;

the optical isolator is used for enabling the light source signal sent by the light source transmitter to be transmitted to the beam splitter in a single direction so as to reduce backscattering noise.

6. The resonant fiber-optic gyroscope of claim 3, wherein the first optical signal processor comprises a first photoelectric detection module connected to the first optical signal transmitter, and a first demodulation module connected to the first photoelectric detection module and the angular velocity information processing module;

the first photoelectric detection module is used for converting a first optical signal sent by the first optical signal transmitter into a first electric signal and sending the first electric signal to the first demodulation module;

the first demodulation module is used for demodulating the first electric signal into first demodulation information.

7. The resonant fiber-optic gyroscope of claim 3 or 6, wherein the second optical signal processor comprises a second photoelectric detection module connected with the second optical signal transmitter and a second demodulation module connected with the second photoelectric detection module and the angular velocity information processing module;

the second photoelectric detection module is used for converting a second optical signal sent by the second optical signal transmitter into a second electric signal and sending the second electric signal to the second demodulation module;

the second demodulation module is configured to demodulate the second electrical signal into second demodulation information.

8. The resonant fiber optic gyroscope of claim 3, further comprising a first phase modulator between the beam splitter and the first optical signal transmitter and a second phase modulator between the beam splitter and the second optical signal transmitter;

the beam splitter is specifically configured to split the light source signal into a first optical signal and a second optical signal, send the first optical signal to a second optical signal transmitter through the second phase modulator, and send the second optical signal to a first optical signal transmitter through the first phase modulator;

the first phase modulator is used for carrying out phase modulation on the second optical signal;

the second phase modulator is configured to phase modulate the first optical signal.

9. A method for measuring angular velocity, applied to a resonant fiber optic gyroscope, comprising:

acquiring first demodulation information and second demodulation information output by the resonant fiber-optic gyroscope;

carrying out noise reduction processing on the fluctuating noise in the first demodulation information by adopting second demodulation information to obtain third demodulation information;

and determining the angular velocity by using the third demodulation information.

10. The method according to claim 9, wherein the step of performing noise reduction processing on the fluctuating noise in the first demodulation information using the second demodulation information to obtain third demodulation information comprises:

and taking the second demodulation information as a noise reference value, and performing noise reduction processing on the fluctuating noise in the first demodulation information to obtain third demodulation information.

Background

A resonance type optical Fiber gyroscope (R-FOG) is a novel optical sensor for measuring the rotation angular velocity based on the optical Sagnac effect, and has the characteristics of high detection precision, large dynamic range and capability of realizing high-sensitivity rotation detection by using shorter optical fibers and a small volume.

Generally, two paths of optical signals in opposite directions exist in a resonant fiber optic gyroscope, and the resonant fiber optic gyroscope locks the frequency of a light source emitted by a light source emitter on the resonant frequency of one path of optical signal and acquires a demodulated value output by the other path of optical signal, so as to obtain angular velocity information.

However, in the resonant fiber optic gyroscope, there are many noise sources that affect the performance of the resonant fiber optic gyroscope. Due to the interference of various noises, the frequency of the light source emitted by the light source emitter cannot be correctly locked on the resonance frequency of the optical signal, and the angular velocity detection precision of the resonant fiber optic gyroscope is reduced.

Disclosure of Invention

In view of the above problems, embodiments of the present invention are proposed to provide a resonant fiber optic gyro method and a corresponding angular velocity measurement method that overcome or at least partially solve the above problems.

In order to solve the above problems, an embodiment of the present invention discloses a resonant fiber optic gyroscope, which includes an angular velocity information processing module, a first optical signal processor connected to the angular velocity information processing module, and a second optical signal processor connected to the angular velocity information processing module;

the first optical signal processor is used for sending first demodulation information to the angular velocity information processing module;

the second optical signal processor is used for sending second demodulation information to the angular velocity information processing module;

the angular velocity information processing module is used for carrying out noise reduction processing on the fluctuating noise in the first demodulation information by adopting second demodulation information to obtain third demodulation information, and determining the angular velocity by adopting the third demodulation information.

Optionally, specifically, the angular velocity information processing module is configured to perform noise reduction processing on the fluctuating noise in the first demodulation information by using the second demodulation information as a noise reference value to obtain third demodulation information, and determine the angular velocity by using the third demodulation information.

Optionally, the resonant fiber optic gyroscope further includes a first optical signal transmitter connected to the first optical signal processor, a second optical signal transmitter connected to the second optical signal processor, and a ring resonator connected to the first optical signal transmitter and the second optical signal transmitter;

the first optical signal transmitter is used for sending a second optical signal to the ring-shaped resonant cavity, acquiring a first optical signal returned by the ring-shaped resonant cavity and sending the first optical signal to the first optical signal processor;

the second optical signal transmitter is used for sending a first optical signal to the ring-shaped resonant cavity, acquiring a second optical signal returned by the ring-shaped resonant cavity and sending the second optical signal to the second optical signal processor;

the first optical signal processor is further configured to convert the first optical signal into first demodulation information;

the second optical signal processor is further configured to convert the second optical signal into second demodulation information.

Optionally, the resonant fiber optic gyroscope further includes a beam splitter connected to the first optical signal transmitter and the second optical signal transmitter, and a light source emitter connected to the beam splitter;

the light source transmitter is used for determining the light source frequency of a light source signal based on the second modulation information and transmitting the light source signal to the beam splitter by adopting the light source frequency;

the beam splitter is used for splitting the light source signal into a first optical signal and a second optical signal, sending the first optical signal to a second optical signal transmitter, and sending the second optical signal to the first optical signal transmitter.

Optionally, the resonant fiber optic gyroscope further comprises an optical isolator disposed between the light source emitter and the beam splitter;

the optical isolator is used for enabling the light source signal sent by the light source transmitter to be transmitted to the beam splitter in a single direction so as to reduce backscattering noise.

Optionally, the first optical signal processor includes a first photoelectric detection module connected to the first optical signal transmitter, and a first demodulation module connected to the first photoelectric detection module and the angular velocity information processing module;

the first photoelectric detection module is used for converting a first optical signal sent by the first optical signal transmitter into a first electric signal and sending the first electric signal to the first demodulation module;

the first demodulation module is used for demodulating the first electric signal into first demodulation information;

optionally, the second optical signal processor includes a second photodetection module connected to the second optical signal transmitter and a second demodulation module connected to the second photodetection module and the angular velocity information processing module;

the second photoelectric detection module is used for converting a second optical signal sent by the second optical signal transmitter into a second electric signal and sending the second electric signal to the second demodulation module;

the second demodulation module is configured to demodulate the second electrical signal into second demodulation information.

Optionally, the resonant fiber-optic gyroscope further comprises a first phase modulator between the beam splitter and the first optical signal transmitter, and a second phase modulator between the beam splitter and the second optical signal transmitter;

the beam splitter is specifically configured to split the light source signal into a first optical signal and a second optical signal, send the first optical signal to a second optical signal transmitter through the second phase modulator, and send the second optical signal to a first optical signal transmitter through the first phase modulator;

the first phase modulator is used for carrying out phase modulation on the second optical signal;

the second phase modulator is configured to phase modulate the first optical signal.

The embodiment of the invention also discloses a method for measuring the angular velocity, which is applied to the resonant fiber optic gyroscope and comprises the following steps:

acquiring first demodulation information and second demodulation information output by the resonant fiber-optic gyroscope;

carrying out noise reduction processing on the fluctuating noise in the first demodulation information by adopting second demodulation information to obtain third demodulation information;

and determining the angular velocity by using the third demodulation information.

Optionally, the step of performing noise reduction processing on the fluctuating noise in the first demodulation information by using the second demodulation information to obtain third demodulation information includes:

and taking the second demodulation information as a noise reference value, and performing noise reduction processing on the fluctuating noise in the first demodulation information to obtain third demodulation information.

The embodiment of the invention has the following advantages:

according to the resonant fiber-optic gyroscope provided by the embodiment of the invention, the second demodulation information can be adopted to perform noise reduction processing on the fluctuation noise in the first demodulation information to obtain the third demodulation information, so that the fluctuation in the demodulation information is reduced. And determining the angular velocity by adopting the third demodulation information subjected to noise reduction processing, so that the accuracy of the angular velocity can be further improved, and the angular velocity measurement effect of the resonant fiber-optic gyroscope is improved.

Drawings

Fig. 1 is a block diagram of a resonant fiber optic gyroscope according to an embodiment of the present invention;

fig. 2 is a block diagram of another resonant fiber-optic gyroscope according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of demodulation information of a gyro simulation experiment according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a zero-bias stability experiment according to an embodiment of the present invention;

fig. 5 is a flowchart of the steps of an embodiment of the angular velocity measurement method of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Referring to fig. 1, a block diagram of a resonant fiber optic gyroscope 100 according to an embodiment of the present invention is shown, where the resonant fiber optic gyroscope 100 includes an angular velocity information processing module 101, a first optical signal processor 102 connected to the angular velocity information processing module 101, and a second optical signal processor 103 connected to the angular velocity information processing module 101;

the first optical signal processor 102 is configured to send first demodulation information to the angular velocity information processing module 101;

the second optical signal processor 103 is configured to send second demodulation information to the angular velocity information processing module 101;

the angular velocity information processing module 101 is configured to perform noise reduction processing on the fluctuating noise in the first demodulation information by using the second demodulation information to obtain third demodulation information, and determine the angular velocity by using the third demodulation information.

In this embodiment of the present invention, the first demodulation information is a demodulation value obtained by demodulating the first optical signal in the resonant fiber optic gyroscope 100 by the first optical signal processor 102. The second demodulation information is a demodulation value obtained by demodulating the second optical signal in the resonant fiber gyroscope 100 by the second optical signal processor 103.

In the embodiment of the present invention, since the first optical signal and the second optical signal are affected by substantially the same noise in the resonant fiber optic gyroscope 100, the first optical signal and the second optical signal have synchronous fluctuation. The first demodulation information obtained by demodulating the first optical signal has the same fluctuation as the second demodulation information obtained by demodulating the second optical signal. The fluctuation in the first demodulation information is a main cause of inaccuracy of the angular velocity information output by the resonant fiber optic gyroscope 100.

Thus, the angular velocity information processing module 101 of the resonant fiber optic gyroscope 100 acquires the first demodulation information sent by the first optical signal processor 102 and acquires the second demodulation information sent by the second optical signal processor 103, and then performs noise reduction processing on the first demodulation information by using the second demodulation information. Specifically, the same fluctuation in the first demodulated information as that in the second demodulated information is eliminated, thereby reducing noise fluctuation present in the first demodulated information, resulting in third demodulated information.

In this embodiment of the present invention, the angular velocity information processing module 101 of the resonant fiber optic gyroscope 100 may determine the angular velocity by using the third demodulation information. Specifically, the third demodulation information is proportional to a resonant frequency difference between the first optical signal and the second optical signal, and the resonant frequency difference is in a proportional relationship with the angular velocity. Thereby, the angular velocity can be determined by the third demodulation information.

According to the resonant fiber-optic gyroscope provided by the embodiment of the invention, the second demodulation information can be adopted to perform noise reduction processing on the fluctuation noise in the first demodulation information to obtain the third demodulation information, so that the fluctuation in the demodulation information is reduced. And determining the angular velocity by adopting the third demodulation information subjected to noise reduction processing, so that the accuracy of the angular velocity can be further improved, and the angular velocity measurement effect of the resonant fiber-optic gyroscope is improved.

Referring to fig. 2, a block diagram of a resonant fiber optic gyroscope 200 according to an embodiment of the present invention is shown. The resonant fiber-optic gyroscope 200 comprises an angular velocity information processing module 201, a first optical signal processor 202 connected with the angular velocity information processing module 201, and a second optical signal processor 203 connected with the angular velocity information processing module 201;

the first optical signal processor 202 is configured to send first demodulation information to the angular velocity information processing module 201;

the second optical signal processor 203 is configured to send second demodulation information to the angular velocity information processing module 201;

the angular velocity information processing module 201 is configured to perform noise reduction processing on the fluctuating noise in the first demodulation information by using the second demodulation information to obtain third demodulation information, and determine the angular velocity by using the third demodulation information.

In this embodiment of the present invention, the first demodulation information is a demodulation value obtained by demodulating the first optical signal in the resonant fiber optic gyroscope 200 by the first optical signal processor 202. The second demodulation information is a demodulation value obtained by demodulating the second optical signal in the resonant fiber optic gyroscope 200 by the second optical signal processor 203.

In this embodiment of the present invention, the angular velocity information processing module 201 may be configured to perform noise reduction processing on the fluctuating noise in the first demodulation information by using the second demodulation information as a noise reference value to obtain third demodulation information, and determine the angular velocity by using the third demodulation information.

In the embodiment of the present invention, the first optical signal is a counterclockwise optical signal, and the second optical signal is a clockwise optical signal. The light source frequency of the resonant fiber-optic gyroscope 200 can be locked to the resonant frequency of the second optical signal. At this time, the second demodulation information output by the second optical signal processor 203 may be zero, and the first demodulation information output by the first optical signal processor 202 may be used to determine the angular velocity.

In the embodiment of the present invention, the first optical signal and the second optical signal are affected by noise in the resonant fiber optic gyroscope 200. The noise may be mainly caused by fluctuations in the light source frequency of the laser. Thus, the first demodulation information and the second demodulation information may fluctuate. Resulting in that the second demodulation information cannot be fixed to a zero value but fluctuates around the zero value. The first demodulation information cannot accurately output stable demodulation information, but has fluctuations and errors.

In the embodiment of the present invention, since the first optical signal and the second optical signal are affected by substantially the same noise in the resonant fiber optic gyroscope 200, the fluctuations of the first demodulation information and the second demodulation information may be synchronized. Further, since the second demodulation information should be a zero value under normal conditions, that is, the non-zero value generated by the second demodulation information is mainly a value generated by noise. Thus, the third demodulated information subjected to noise reduction processing can be obtained by performing noise reduction processing on the fluctuation noise present in the first demodulated information with the second demodulated information as a noise reference value, and reducing the fluctuation due to noise in the first demodulated information.

In a specific implementation, the third demodulation information Δ P₃The following formula can be adopted to calculate:

ΔP₃＝ΔP₁-ΔP₂

wherein, Δ P₁For the first demodulation information, Δ P₂Is the second demodulation information.

Therefore, the second demodulation information can be obtained by adopting the formula, wherein the fluctuating noise in the first demodulation information is subjected to noise reduction processing, and the fluctuation caused by the noise in the first demodulation information is reduced, so that the third demodulation information subjected to the noise reduction processing is obtained.

Further, in the resonant fiber optic gyroscope 200, the first optical signal and the second optical signal may have a nonreciprocal error, so that slopes of resonance curves of the first optical signal and the second optical signal at respective resonance points may not be equal to each other, that is, a ratio of the slopes of the first optical signal and the second optical signal is not equal to 1. In this case, if the third demodulation information is determined based on the difference between the first demodulation information and the second demodulation information, fluctuations in the first demodulation information due to noise may not be accurately eliminated. Thereby, a reciprocity compensation factor may be set, which may be the ratio of the slopes of the second optical signal and the first optical signal at the respective resonance points.

Said third demodulation information ap₃The following formula can be adopted to calculate:

ΔP₃＝ΔP₁-KΔP₂

wherein, Δ P₁For the first demodulation information, Δ P₂For the second demodulation information, K is a reciprocity compensation factor.

By introducing a reciprocity compensation factor, the nonreciprocal error can be compensated, and the stability of the resonant fiber-optic gyroscope 200 in measuring the angular velocity is further improved.

In the embodiment of the present invention, after the third demodulation information is acquired, the angular velocity may be determined by using the third demodulation information. Since the third demodulation information has been subjected to noise reduction processing, an angular velocity value with high accuracy can be obtained. Specifically, the third demodulation information is proportional to a resonant frequency difference between the first optical signal and the second optical signal, and the resonant frequency difference is in a proportional relationship with the angular velocity. Thereby, the angular velocity can be determined by the third demodulation information.

As a specific example of the present invention, fig. 3 is a schematic diagram of demodulation information of a gyro simulation experiment according to an embodiment of the present invention. Fig. 3(a) shows second demodulation information, that is, a demodulation value of the clockwise optical signal output. Fig. 3(b) shows the first demodulation information, i.e. the demodulated value of the counterclockwise optical signal output. Fig. 3(c) shows third demodulation information, which is a difference between the first demodulation information and the second demodulation information. Therefore, the third demodulation information subjected to noise reduction processing obtained by the embodiment of the invention has stable numerical value and is not obvious in fluctuation caused by noise.

As a specific example of the present invention, fig. 4 is a schematic diagram of a zero-bias stability experiment according to an embodiment of the present invention. When the measurement time is 1000 seconds and the integration time is 100 seconds, fig. 4(a) is a schematic diagram of a measurement result of the zero offset stability of the second demodulation information, fig. 4(b) is a schematic diagram of a measurement result of the zero offset stability of the first demodulation information, and fig. 4(c) is a schematic diagram of a measurement result of the third demodulation information. The zero offset stability of the first demodulation information is 8.15 degrees/h, and the zero offset stability of the second demodulation information is 1.88 degrees/h. Therefore, the third demodulation information subjected to the noise reduction processing obtained by the embodiment of the invention has good zero bias stability, and compared with the first demodulation information not subjected to the noise reduction processing, the precision is improved to 4.3 times of the original precision.

In an embodiment of the present invention, the resonant fiber optic gyroscope 200 further includes a first optical signal transmitter 204 connected to the first optical signal processor 202, a second optical signal transmitter 205 connected to the second optical signal processor 203, and a ring resonator 206 connected to the first optical signal transmitter 204 and the second optical signal transmitter 205;

the first optical signal transmitter 204 is configured to send a second optical signal to the ring resonator 206, obtain a first optical signal returned by the ring resonator 206, and send the first optical signal to the first optical signal processor 202;

the second optical signal transmitter 205 is configured to send a first optical signal to the ring resonator 206, obtain a second optical signal returned by the ring resonator 206, and send the second optical signal to the second optical signal processor 203;

the first optical signal processor 202 is further configured to convert the first optical signal into first demodulation information;

the second optical signal processor 203 is further configured to convert the second optical signal into second demodulation information.

In the embodiment of the present invention, the first optical signal transmitter 204 and the second optical signal transmitter 205 may be optical couplers, and may also be optical circulators. Specifically, when the first optical signal transmitter 204 is an optical coupler, the optical coupler should be a 2 × 1 coupler with a coupling ratio of 50: 50. When the first optical signal transmitter 204 is an optical circulator, the first optical signal transmitter 204 can also avoid causing unnecessary backscattering noise, so that the signal intensity can reach 4 times of that of the optical coupler, and the accuracy of the resonant fiber-optic gyroscope 200 is further improved; when the second optical signal transmitter 205 is an optical coupler, the optical coupler should be a 2 × 1 coupler with a coupling ratio of 50: 50. When the second optical signal transmitter 205 is an optical circulator, the second optical signal transmitter 205 can also avoid causing unnecessary back scattering noise, so that the signal intensity can reach 4 times of that of the optical coupler, and the accuracy of the resonant fiber-optic gyroscope 200 is further improved.

In an embodiment of the present invention, the ring resonator 206 may include an optical coupler 2061 and a ring fiber 2062. The first optical signal and the second optical signal may enter the ring fiber 2062 from the optical coupler 2061 of the ring resonator 206, circulate around the ring fiber 2062, generate a multi-beam interference phenomenon, and exit to the first optical signal transmitter 204 and the second optical signal transmitter 205.

Specifically, the second optical signal transmitter 205 sends a first optical signal to the ring resonator 206, wherein a part of the optical signal forms a counter-clockwise optical signal of multi-beam interference in the ring resonator 206, and forms a new first optical signal after interfering with another part of the optical signal, and then transmits the first optical signal to the first optical signal transmitter 204, and then sends the first optical signal to the first optical signal processor 202. The first optical signal transmitter 204 transmits a second optical signal to the ring resonator 206, wherein a part of the optical signal forms a multi-beam interference clockwise optical signal in the ring resonator 206, and forms a new second optical signal after interfering with another part of the optical signal, and then transmits the second optical signal to the second optical signal transmitter 205, and then transmits the second optical signal to the second optical signal processor 203.

In a specific implementation, the coupling ratio of the optical coupler 2061 in the ring resonator 206 is k: (1-k), where 50% < k < 100%.

In the embodiment of the present invention, the first optical signal processor 202 and the second optical signal processor 203 may convert the optical signal into an electrical signal and demodulate the electrical signal, so as to obtain the first demodulation information and the second demodulation information.

In an embodiment of the present invention, the resonant fiber-optic gyroscope 200 further includes a beam splitter 207 connected to the first optical signal transmitter 204 and the second optical signal transmitter 205, and a light source emitter 209 connected to the beam splitter 207;

the light source transmitter 209 is configured to determine a light source frequency of a light source signal based on the second modulation information, and transmit the light source signal to the beam splitter 207 using the light source frequency;

the beam splitter 207 is configured to split the light source signal into a first optical signal and a second optical signal, send the second optical signal to the first optical signal transmitter 204, and send the first optical signal to the second optical signal transmitter 205.

In the embodiment of the present invention, the light source emitter 209 is a tunable narrow linewidth laser emitter. The light source emitter 209 may emit a light source signal. A light source frequency of the light source signal may be determined based on the second demodulation information. Specifically, the second demodulation information may be input to the optical source transmitter 209 to form a feedback loop, and the optical source frequency may be locked to a frequency that keeps the second modulation information at a zero value, i.e., the optical source frequency may be the same as the resonant frequency of the second optical signal returned by the ring resonator 206. Since the tuning process of the light source frequency takes a certain time, in the case that the resonant frequency of the second optical signal returned by the ring resonator 206 fluctuates rapidly due to noise, the light source frequency is easily not completely locked to the resonant frequency of the second optical signal returned by the ring resonator 206, so that the second demodulation information is affected by noise, and may not be accurately maintained at a zero value, and there is a certain fluctuation.

In the embodiment of the present invention, the beam splitter 207 may split the light source signal into a first optical signal and a second optical signal with the same power, send the second optical signal to the first optical signal transmitter 204, and send the first optical signal to the second optical signal transmitter 205.

In an embodiment of the present invention, the resonant fiber-optic gyroscope 200 further includes an optical isolator 210 disposed between the light source emitter 209 and the beam splitter 207;

the optical isolator 210 is used to transmit the light source signal sent by the light source emitter 209 to the beam splitter 207 in a single direction to reduce the back scattering noise.

In the embodiment of the present invention, an optical isolator 210 may be further disposed between the light source emitter 209 and the beam splitter 207, and the optical isolator 210 may be configured to transmit a light source signal sent by the light source emitter 209 to the beam splitter 207 in a single direction, so as to avoid the light signal from being reflected back to the light source emitter 209, and while protecting the light source emitter 209, the optical isolator may also reduce back scattering noise, and further improve the accuracy of the resonant fiber optic gyroscope 200.

In one embodiment of the present invention, the first optical signal processor 202 includes a first photodetection module 2021 connected to the first optical signal transmitter 204, and a first demodulation module 2022 connected to the first photodetection module 2021 and the angular velocity information processing module 201;

the first photoelectric detection module 2021 is configured to convert the first optical signal sent by the first optical signal transmitter 204 into a first electrical signal, and send the first electrical signal to the first demodulation module;

the first demodulation module is used for demodulating the first electric signal into first demodulation information;

in this embodiment of the present invention, the first photo-detection module 2021 may be a photo-detector, and may be configured to convert the first optical signal sent by the first optical signal transmitter 204 into a first electrical signal, and send the first electrical signal to the first demodulation module.

In this embodiment of the present invention, the first demodulation module may be a demodulator, and may be configured to demodulate the first electrical signal and output first demodulation information. The first demodulation information may be a demodulated value.

In one embodiment of the present invention, the second optical signal processor 203 includes a second photo-detection module 2031 connected to the second optical signal transmitter 205 and a second demodulation module 2032 connected to the second photo-detection module 2031 and the angular velocity information processing module 201;

the second photoelectric detection module 2031 is configured to convert the second optical signal sent by the second optical signal transmitter 205 into a second electrical signal, and send the second electrical signal to the second demodulation module;

the second demodulation module is configured to demodulate the second electrical signal into second demodulation information.

In this embodiment of the present invention, the second photo-detection module 2031 may be a photo-detector, and may be configured to convert the second optical signal sent by the second optical signal transmitter 205 into a second electrical signal, and send the second electrical signal to the second demodulation module.

In this embodiment of the present invention, the second demodulation module may be a demodulator, and may be configured to demodulate the second electrical signal and output second demodulation information. The second demodulation information may be a demodulated value.

In an embodiment of the present invention, the resonant fiber-optic gyroscope 200 further includes a first phase modulator 211 between the beam splitter 207 and the first optical signal transmitter 204, and a second phase modulator 212 between the beam splitter 207 and the second optical signal transmitter 205;

specifically, the beam splitter 207 is configured to split the light source signal into a first optical signal and a second optical signal, send the second optical signal to the first optical signal transmitter 204 through the first phase modulator 211, and send the first optical signal to the second optical signal transmitter 205 through the second phase modulator 212;

the first phase modulator 211 is configured to perform phase modulation on the second optical signal;

the second phase modulator 212 is configured to phase modulate the first optical signal.

In the embodiment of the present invention, the resonant fiber-optic gyroscope 200 may further include a first phase modulator 211 between the beam splitter 207 and the first optical signal transmitter 204, and a second phase modulator 212 between the beam splitter 207 and the second optical signal transmitter 205.

In the embodiment of the present invention, in the process of sending the light source signal to the first optical signal transmitter 204, the beam splitter 207 firstly passes through the first phase modulator 211, and then sends the second optical signal to the first optical signal transmitter 204.

In the embodiment of the present invention, in the process of sending the light source signal to the second optical signal transmitter 205, the beam splitter 207 firstly passes through the second phase modulator 212, and then sends the first optical signal to the second optical signal transmitter 205.

In the embodiment of the present invention, the first phase modulator 211 is configured to perform phase modulation on the second optical signal, and the second phase modulator 212 is configured to perform phase modulation on the first optical signal, so as to further suppress noise that may exist in the first optical signal and the second optical signal.

Referring to fig. 5, a flowchart illustrating steps of an embodiment of an angular velocity measurement method according to the present invention is shown, which may specifically include the following steps:

step 501, acquiring first demodulation information and second demodulation information output by the resonant fiber-optic gyroscope;

in this embodiment of the present invention, the first demodulation information may be a demodulation value obtained by demodulating the first optical signal in the resonant fiber optic gyroscope by the first optical signal processor. The second demodulation information may be a demodulation value obtained by demodulating the second optical signal in the resonant fiber optic gyroscope by the second optical signal processor.

In the embodiment of the present invention, an angular velocity information processing module may be provided, and the angular velocity information processing module may acquire first demodulation information and second demodulation information output by the resonant fiber optic gyroscope.

Step 502, performing noise reduction processing on the fluctuating noise in the first demodulation information by using second demodulation information to obtain third demodulation information;

in the embodiment of the present invention, since the first optical signal and the second optical signal are affected by substantially the same noise in the resonant fiber optic gyroscope, the first optical signal and the second optical signal may fluctuate synchronously. The first demodulation information obtained by demodulating the first optical signal has the same fluctuation as the second demodulation information obtained by demodulating the second optical signal. The fluctuation in the first demodulation information may be a cause of inaccuracy of the angular velocity information output by the resonant fiber optic gyroscope.

Therefore, after the angular velocity information processing module of the resonant fiber optic gyroscope acquires the first demodulation information sent by the first optical signal processor and acquires the second demodulation information sent by the second optical signal processor, the second demodulation information can be adopted to perform noise reduction processing on the first demodulation information. Specifically, the third demodulation information may be obtained by eliminating the same fluctuation in the first demodulation information as the second demodulation information, thereby reducing noise fluctuation present in the first demodulation information.

And step 503, determining the angular velocity by using the third demodulation information.

In this embodiment of the present invention, the angular velocity information processing module of the resonant fiber optic gyroscope may determine the angular velocity by using the third demodulation information. Specifically, the third demodulation information is proportional to a resonant frequency difference between the first optical signal and the second optical signal, and the resonant frequency difference may be in a proportional relationship with the angular velocity. Thereby, the angular velocity can be determined by the third demodulation information.

According to the angular velocity measuring method provided by the embodiment of the invention, the second demodulation information can be adopted to perform noise reduction processing on the fluctuation noise in the first demodulation information to obtain the third demodulation information so as to reduce the fluctuation in the demodulation information. And determining the angular velocity by adopting the third demodulation information subjected to noise reduction processing, so that the accuracy of the angular velocity can be further improved, and the angular velocity measurement effect of the resonant fiber-optic gyroscope is improved.

In an embodiment of the present invention, the step of performing noise reduction processing on the fluctuating noise in the first demodulation information by using the second demodulation information to obtain third demodulation information includes:

s11, taking the second demodulation information as a noise reference value, performing noise reduction processing on the fluctuating noise in the first demodulation information, and obtaining third demodulation information.

In the embodiment of the present invention, the first optical signal and the second optical signal are influenced by noise in the resonant fiber optic gyroscope. The noise may be mainly caused by fluctuations in the light source frequency of the laser. Thus, the first demodulation information and the second demodulation information may fluctuate. Resulting in that the second demodulation information cannot be fixed to a zero value but fluctuates around the zero value. The first demodulation information cannot accurately output stable demodulation information, but has fluctuations and errors.

In the embodiment of the present invention, since the first optical signal and the second optical signal are affected by substantially the same noise in the resonant fiber optic gyroscope, the fluctuations of the first demodulation information and the second demodulation information may be synchronized. Further, since the second demodulation information should be a zero value under normal conditions, that is, the non-zero value generated by the second demodulation information may be a value mainly generated by noise. Thus, the third demodulated information subjected to noise reduction processing can be obtained by performing noise reduction processing on the fluctuation noise present in the first demodulated information with the second demodulated information as a noise reference value, and reducing the fluctuation due to noise in the first demodulated information.

In a specific implementation, the third demodulation information Δ P₃The following formula can be adopted to calculate:

ΔP₃＝ΔP₁-ΔP₂

wherein, Δ P₁For the first demodulation information, Δ P₂Is the second demodulation information.

Therefore, the second demodulation information can be obtained by adopting the formula, wherein the fluctuating noise in the first demodulation information is subjected to noise reduction processing, and the fluctuation caused by the noise in the first demodulation information is reduced, so that the third demodulation information subjected to the noise reduction processing is obtained.

Further, in the resonant fiber optic gyroscope, a nonreciprocal error exists between the first optical signal and the second optical signal, so that slopes of resonance curves of the first optical signal and the second optical signal at respective resonance points may not be equal to each other, that is, a ratio of the slopes of the first optical signal and the second optical signal is not equal to 1. In this case, if the third demodulation information is determined based on the difference between the first demodulation information and the second demodulation information, fluctuations in the first demodulation information due to noise may not be correctly eliminated. Thereby, a reciprocity compensation factor may be set, which may be the ratio of the slopes of the second optical signal and the first optical signal at the respective resonance points.

Said third demodulation information ap₃The following formula can be adopted to calculate:

ΔP₃＝ΔP₁-KΔP₂

wherein, Δ P₁For the first demodulation information, Δ P₂For the second demodulation information, K is a reciprocity compensation factor.

By introducing a reciprocity compensation factor, the nonreciprocal error can be compensated, and the stability of the resonant fiber optic gyroscope in measuring the angular velocity is further improved.

In the embodiment of the present invention, after the third demodulation information is acquired, the angular velocity may be determined by using the third demodulation information. Since the third demodulation information has been subjected to noise reduction processing, an angular velocity value with high accuracy can be obtained. Specifically, the third demodulation information is proportional to a resonant frequency difference between the first optical signal and the second optical signal, and the resonant frequency difference may be in a proportional relationship with the angular velocity. Thereby, the angular velocity can be determined by the third demodulation information.

It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. The term "comprising" is used to specify the presence of stated elements, but not necessarily the presence of stated elements, unless otherwise specified.

The resonant fiber-optic gyroscope and the angular velocity measurement method provided by the invention are described in detail, and the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.