CN106482748B - A kind of interference type optical fiber gyroscope random walk method for diagnosing faults - Google Patents
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- 238000005295 random walk Methods 0.000 title claims abstract description 55
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- 239000013307 optical fiber Substances 0.000 title claims description 79
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- 238000013508 migration Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 3
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- 238000003745 diagnosis Methods 0.000 abstract description 8
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Abstract
本发明为一种干涉式光纤陀螺随机游走故障诊断方法，属于干涉式光纤陀螺技术领域。本发明提供了一种改进的随机游走系数预测模型，根据该模型计算空间任务中随机游走系数的预测值的最大值；然后实时采集到达探测器的光电流，计算随机游走系数估计值；通过比较光纤陀螺的随机游走系数的最大预测值和实时估计值，实现对干涉式光纤陀螺故障的实时诊断。当随机游走系数的实时估计值大于最大预测值时，判断为陀螺故障。本发明基于干涉式光纤陀螺的原有结构，不需要添加额外的器件，不需要引入额外姿态测定信息，即可诊断陀螺随机游走故障，故障诊断结果快、准确率高，可实时检测干涉式光纤陀螺的工作状态。
The invention relates to a random walk fault diagnosis method of an interferometric fiber optic gyroscope, which belongs to the technical field of an interferometric fiber optic gyroscope. The invention provides an improved random walk coefficient prediction model, according to which the maximum value of the predicted value of the random walk coefficient in the space task is calculated; then the photocurrent reaching the detector is collected in real time, and the estimated value of the random walk coefficient is calculated. ; Real-time diagnosis of interferometric fiber optic gyroscope faults is realized by comparing the maximum predicted value and real-time estimated value of the random walk coefficient of the fiber optic gyroscope. When the real-time estimated value of the random walk coefficient is greater than the maximum predicted value, it is judged that the gyro is faulty. Based on the original structure of the interferometric fiber optic gyroscope, the present invention does not need to add additional devices or introduce additional attitude measurement information to diagnose the random walk fault of the gyroscope. The fault diagnosis results are fast and the accuracy is high, and the interferometric The working state of the fiber optic gyroscope.
Description
Technical field
The present invention relates to interference type optical fiber gyroscope technical fields, and in particular to a kind of novel dry based on space application environment
The random walk method for diagnosing faults of interferometric optical fibre gyro.
Background technique
Interference type optical fiber gyroscope generates phase difference using the sensitive angular speed to be measured of fiber optic loop, have high-performance, low-power consumption,
Movement-less part, highly reliable advantage, can be widely applied to space industry.Fig. 1 is the structure of typical interference type optical fiber gyroscope
Schematic diagram mainly includes light source 1, coupler 2, Y waveguide 3, fiber optic loop 4, detector 5 and signal processing apparatus.In space environment
Influence of the various radiation to interference type optical fiber gyroscope is one long-term progressive process, will cause interference type optical fiber gyroscope optical fiber damage
The problems such as consumption increases, light source power declines and detector responsivity reduces shows random walk coefficient deterioration, offset drift
And scale factor error.Random walk coefficient increase will lead to Gyro Precision reduction, and offset drift and scale factor error will be led
Gyro output biasing is caused to change.In practical engineering applications, for the offset drift and mark of interference formula digital closed-loop optic fiber gyroscope
Degree factor error generallys use external attitude sensor and carries out spatial calibration, but spatial calibration can not reduce the random walk of gyro
The precision of coefficient, gyro is constantly deteriorated with the growth of Space-Work time, finally will be unable to meet satellite system to gyro essence
The requirement of degree, it is out of control so as to cause satellite, it is therefore desirable to carry out Redundancy Design and fault diagnosis for interference type optical fiber gyroscope, make
It can satisfy requirement of the satellite to its service life, precision and reliability under space radiation environment.
Summary of the invention
For existing issue, the present invention devises one kind and does not need to additionally introduce attitude determination information, only with interference formula
Optical fibre gyro internal information, that is, diagnosable Gyro Random migration failure method.The method of the present invention is based on space application novel double-light
Four axis interference type optical fiber gyroscope of source, establishes Gyro Random migration prediction model and real-time estimation model, in conjunction with interference formula optical fiber
Gyroscope structure is compared by random walk coefficient estimated value to the orthogonal gyro of three axis and predicted maximum, judges gyro
Whether failure, and for the fault state of gyro take it is corresponding restore treatment measures, make space with optical fibre gyro in the life-cycle
Meet requirement of the system to gyro reliability in period.
A kind of interference type optical fiber gyroscope random walk method for diagnosing faults provided by the invention, specific implementation process is:
Firstly, a kind of improved random walk coefficient prediction model is provided, it is as follows:
Wherein, RWC indicates that the random walk coefficient of optical fibre gyro, λ indicate optical wavelength, and c indicates the propagation of light in a vacuum
Speed, L indicate that optical fiber ring length, D indicate that optical fiber ring diameter, e indicate electron charge, IdIndicate detector dark current, R indicates to visit
Device is surveyed across resistance, η indicates the responsiveness of detector, P0Indicate that the light source power for being coupled into optical path, Δ v indicate light source spectral bandwidth, k
Indicate that Boltzmann constant, T indicate absolute temperature, AcIt indicates as caused by fiber coupler, integrated optical circuit and weld
Whole optical path losses；Q, b, f are constants, and d is dose of radiation, and r is radiation dose rate.
Then, according to improved random walk coefficient prediction model, the prediction of random walk coefficient in space tasks is calculated
Value RWCp, wherein the maximum value of random walk coefficient predicted value is expressed as Max (RWC in entire space tasksp)。
Finally, acquisition reaches the photoelectric current of detector in real time, random walk coefficient estimated value RWC is calculatede, by comparing most
Big predicted value Max (RWCp) and real-time estimation value RWCe, judge interference type optical fiber gyroscope whether failure.Fault condition is: the gyro
Random walk coefficient real-time estimation value be greater than the gyro random walk coefficient predicted maximum.If being unsatisfactory for failure item
Part judges optical fibre gyro then for normal operating conditions, otherwise judges that optical fibre gyro is broken down.
It is pre- that failure is carried out to a kind of double four axis interference type optical fiber gyroscope structures of light source using method for diagnosing faults of the invention
It surveys.In the four axis interference type optical fiber gyroscope structure of double light sources, including active and standby two light sources, four axis gyro X, Y, Z and S.Four
X, Y, Z three axis accelerometer are mutually orthogonal in axis gyro.S axis gyro is tilting, and S axis is the warm back-up of other three axis.Each light source passes through
Coupler a light splitting is four tunnels, and every road light passes through coupler b into depolarized optical fiber respectively, it is depolarized after light wave be polarized through Y waveguide,
Enter fiber optic loop after light splitting, the optical signal after interference enters photodetector through coupler b.Coupler b is 1 × 3 coupler, main
Two input terminals that the light of standby two light sources passes through 1 × 3 coupler respectively enter optical fiber.
Breakdown judge is carried out to the four axis interference type optical fiber gyroscope of double light sources using method for diagnosing faults of the invention:
(1) when every axis gyro all meets the fault condition, it is judged as light source failure or coupler a failure；
(2) when axis gyro only therein meets the fault condition, it is judged as the axis gyro failure；
(3) when two axis gyroscope therein meets the fault condition, it is judged as the two axis gyroscope failure or coupling
Device a failure.
Compared with the existing technology, the advantages and positive effects of the present invention are:
(1) it the present invention is based on the original structure of interference type optical fiber gyroscope, does not need to additionally introduce attitude determination information, only adopt
With interference type optical fiber gyroscope internal information, that is, diagnosable Gyro Random migration failure；
(2) the invention proposes a kind of novel random walk coefficient models, and based on this model, for specific interference formula light
The different faults type of fine gyroscope structure takes corresponding recovery processing method, guarantees that gyro works normally；
(3) present invention does not need to add additional device or system, while guaranteeing high reliability, reduces interference formula light
The volume and power consumption of fine gyro entirety.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of typical interference type optical fiber gyroscope；
Fig. 2 is the flow chart of interference type optical fiber gyroscope random walk method for diagnosing faults provided by the invention；
Fig. 3 is a kind of novel four axis interference type optical fiber gyroscope structure chart of double light sources.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail.
The photoelectric current I detected using the closed loop interference type optical fiber gyroscope of square-wave frequency modulationpIt can indicate are as follows:
Ip=I (1+cos (Δ φ+φ)) (1)
Wherein, Δ φ is Sagnac phase difference, and φ is phase modulation, and I is the photoelectric current for reaching detector, can be indicated
Are as follows:
Wherein, P0Indicate that the light source power for being coupled into optical path, η indicate the responsiveness of detector, A indicates the radiation of fiber optic loop
Induced attenuation, L indicate optical fiber ring length, AcIndicate complete as caused by the other parts such as fiber coupler, integrated optical circuit and welding
Portion's optical path loss.
It can be indicated using the random walk coefficient RWC of pi/2 phase modulation closed loop interference type optical fiber gyroscope are as follows:
Wherein, λ indicates optical wavelength, and c indicates the spread speed of light in a vacuum, and D indicates that optical fiber ring diameter, e indicate electronics
Charge, Δ v indicate light source spectral bandwidth, IdIndicate detector dark current, k indicates that Boltzmann constant, T indicate absolute temperature, R
Indicate detector across resistance.
Relationship is as follows between irradiation induced attenuation in known fiber optic ring and dose of radiation d and radiation dose rate r:
A=qrbdf (4)
Wherein, q, b, f are constants, and d is dose of radiation, and r is radiation dose rate.Expression formula (2) and (4) are substituted into formula (3)
In, a kind of novel random walk coefficient model can be obtained, such as formula (5), the model describe dose of radiations and radiation dose rate
Influence to random walk coefficient.
If RWCpRandom walk coefficient predicted value is indicated, by known optical fiber radiation sensitive parameter q, b, f and radiation environment
Parameter r, d substitute into the formula (5) in the present invention, and random walk coefficient of the gyro under radiation environment can be obtained.Wherein, it radiates
Environment parameter r, d can estimate to obtain according to orbit altitude, effective time of launch and equivalent aluminium ball shield thickness.If Max
(RWCp) maximum value that indicates random walk coefficient predicted value in entire space tasks, need to meet wanting for space environment application
It asks.Relatively existing formula (3), formula (5) provided by the invention, give interference type optical fiber gyroscope under space application environment with
The expression formula of machine migration coefficient, and random walk coefficient under space application environment can be calculated by substituting into radiation environment parameter
Predicted value.
It is the key that influence random walk coefficient according to formula (2) it is found that I can characterize the optical power value of whole system
Parameter.I value in the track collected in real time is substituted into formula (3) and estimates random walk coefficient estimated value RWCe。RWCpIt can only be anti-
It reflects and radiates the influence for causing fiber optic loop loss increase to Gyro Random migration coefficient, and RWCeThen comprising caused by a variety of optical devices
Random walk coefficient deterioration.
Method for diagnosing faults of the invention, as shown in Fig. 2, according to improved random walk coefficient prediction model, calculating is obtained
Take the predicted maximum Max (RWC of random walk coefficient in space tasksp).Then acquisition in real time reaches the photoelectric current of detector,
It calculates and obtains real-time random walk coefficient estimated value RWCe, then with predicted maximum Max (RWCp) compare, to judge interference formula
Optical fibre gyro whether failure.Fault condition is: the real-time estimation value of the random walk coefficient of the gyro is greater than the random of the gyro
The predicted maximum of migration coefficient.If being unsatisfactory for fault condition, judge that optical fibre gyro for normal operating conditions, otherwise judges light
Fine gyro breaks down.
Embodiment
Method for diagnosing faults of the invention is applied to four axis interference type optical fiber gyroscope structure of double light sources as shown in Figure 3.
As shown in figure 3, four axis gyro X, Y, Z and S share a SLD light source, the light that light source issues is first four through coupler a light splitting
Road, enters depolarized optical fiber after a coupler b respectively, it is depolarized after light wave be polarized, be divided through Y waveguide after into optical fiber
Ring.Optical signal after interference enters photodetector through coupler b.Wherein coupler a is 11 × 4 coupler, and coupler b is
1 × 3 coupler.Because 1 × 3 coupler tool is there are two input terminal, the light of active and standby two light sources can enter fiber optic loop
In.Optical signal carries rotational angular velocity information, which is changed into electric signal after photodetector, and optical fibre gyro passes through
Signal deteching circuit handles the electric signal, demodulates gyro rotational angular velocity.X, Y, Z three axis accelerometer phase in four axis gyros
Mutually orthogonal, S axis gyro is tilting, as the warm back-up of other three axis, when in the orthogonal gyro of three axis it is any break down when, system from
The angular velocity information of failure axis is extracted in the data that S axis gyro provides.Optical path is made using double light source (light source A, B) redundancy schemes
It is driven with two-way light source, increases cold standby channel all the way, when light source A failure, system can automatically switch to light source B, ensure
The normal work of gyro, improves the system reliability of interference type optical fiber gyroscope.
Four axis interference type optical fiber gyroscope of double light sources and provided novel random trip based on the space application environment
Coefficient prediction model is walked, the present invention is based on the novel interference type optical fiber gyroscope random walk fault diagnosis sides of space application environment
Method, the specific steps are as follows:
Step 1: judge interference type optical fiber gyroscope whether failure, specifically:
For X, Y, Z axis, if the random walk coefficient estimated value RWC of every axis gyroeWith random walk coefficient predicted value
RWCpIt is all satisfied RWCe≤Max(RWCp), then judge gyro for normal operating conditions, without switching cold standby light source B light source, when
Any axis meets fault condition RWCe> Max (RWCp) when, illustrate that performance degradation or failure etc. occurs in the axis gyro erected optical device
Problem executes step 2.
Step 2: judge interference type optical fiber gyroscope fault type, specifically:
If X, only existing the random walk coefficient estimated value of an axis gyro in Y, Z three axis accelerometer and predicted value meeting failure
Condition executes step 2.1；If three axis accelerometer meets fault condition simultaneously, step 2.2 is executed；If X, in Y, Z three axis accelerometer
There are two axis to meet fault condition, executes step 2.3.
Step 2.1: gyro failure type is detector, integrated optical circuit, electronic device, fiber optic loop or 1 × 3 coupling of the axis
Device breaks down, and using warm back-up inclined shaft S axis, the angular velocity information of failure axis is extracted from the data that S axis gyro provides, instead of
Failure axis works on.
Step 2.2: gyro failure type is light source A failure or coupler a failure, and switching cold standby light source B replaces light source A
It works on.
Step 2.3: gyro failure type is coupler a failure or meets the two axis gyroscope of fault condition and break down,
Failure axis is replaced using warm back-up inclined shaft S axis, the angular velocity information of failure axis is extracted from the data that S axis gyro provides, simultaneously
Toggle lights B replaces light source A to work on.
Following table 1 is by fault diagnosis is carried out to the four axis interference type optical fiber gyroscope of double light sources and restores the strategy of processing
It counts as follows.
1 interference type optical fiber gyroscope fault diagnosis of table and recovery policy inquiry table
The present invention does not need to add additional device or system, obtains space according to improved random walk coefficient model
The predicted maximum of the random walk coefficient of task, the experiment proved that, it, can be quickly for specific interference type optical fiber gyroscope structure
Judge at failure, and fault diagnosis result accuracy rate is high, realizes the working condition of real-time detection interference type optical fiber gyroscope.
Claims (4)
1. a kind of interference type optical fiber gyroscope random walk method for diagnosing faults, which is characterized in that realize step are as follows:
Firstly, a kind of improved random walk coefficient prediction model is provided, it is as follows:
Wherein, RWC indicates that the random walk coefficient of interference type optical fiber gyroscope, λ indicate optical wavelength, and c indicates the biography of light in a vacuum
Speed is broadcast, L indicates that optical fiber ring length, D indicate that optical fiber ring diameter, e indicate electron charge, IdIndicate detector dark current, k is indicated
Boltzmann constant, T indicate that absolute temperature, η indicate the responsiveness of detector, P0Indicate the light source power for being coupled into optical path, Δ v
Indicate light source spectral bandwidth, R indicates detector across resistance, AcIt indicates as produced by fiber coupler, integrated optical circuit and weld
Whole optical path losses；D is dose of radiation, and r is radiation dose rate, and q, b and f are constants；
Then, the predicted value RWC of random walk coefficient in space tasks is calculated according to formula (1)p, wherein random in space tasks
The maximum value of migration coefficient predictors is expressed as Max (RWCp)；
Finally, acquisition reaches the photoelectric current of detector in real time, random walk coefficient estimated value RWC is calculatede；
Compare real-time estimation value RWCeWith predicted maximum Max (RWCp) come judge interference type optical fiber gyroscope whether failure；Failure item
Part is: the real-time estimation value of the random walk coefficient of the interference type optical fiber gyroscope is greater than the random walk of the interference type optical fiber gyroscope
The predicted maximum of coefficient；If being unsatisfactory for fault condition, judge interference type optical fiber gyroscope for normal operating conditions；Otherwise, sentence
Disconnected interference type optical fiber gyroscope breaks down.
2. a kind of interference type optical fiber gyroscope random walk method for diagnosing faults according to claim 1, which is characterized in that institute
The method for diagnosing faults stated interferes formula optical fiber top for diagnosing four axis interference type optical fiber gyroscope of double light sources, four axis of double light sources
Spiral shell includes active and standby two light sources, four axis interference type optical fiber gyroscope X, Y, Z and S；X, Y, Z triaxial interference type optical fibre gyro is being mutually just
It hands over, S axis interference type optical fiber gyroscope is tilting, and S axis is the warm back-up of other three axis；Each light source is four tunnels by coupler a light splitting,
Every road light passes through coupler b into depolarized optical fiber respectively；The coupler a is 1 × 4 coupler, and coupler b is 1 × 3 coupling
Device, two input terminals that the light of active and standby two light sources passes through 1 × 3 coupler respectively enter optical fiber；Breakdown judge is as follows:
(1) when every axis interference type optical fiber gyroscope all meets the fault condition, it is judged as light source failure or coupler a failure；
(2) when axis interference type optical fiber gyroscope only therein meets the fault condition, it is judged as that the axis interferes formula light
Fine gyro failure；
(3) when two axis interference type optical fiber gyroscope only therein meets the fault condition, it is judged as that two axis interferes formula
Optical fibre gyro failure or coupler a failure；
(4) when every axis interference type optical fiber gyroscope is all unsatisfactory for the fault condition, judge that triaxial interference type optical fibre gyro is positive
Normal working condition.
3. a kind of interference type optical fiber gyroscope random walk method for diagnosing faults according to claim 2, which is characterized in that institute
The interference type optical fiber gyroscope failure stated, including breakdown detector, integrated optical circuit failure, electronic device failure, fiber optic loop failure, with
And coupler b failure.
4. a kind of interference type optical fiber gyroscope random walk method for diagnosing faults according to claim 2, which is characterized in that institute
The four axis interference type optical fiber gyroscope of double light sources stated, when breakdown judge is result (1), switching is worked on using backup light source；
When breakdown judge is result (2), failure axis is replaced using warm back-up S axis, failure axis is extracted from the data that S axis gyro provides
Angular velocity information；When breakdown judge is result (3), failure axis is replaced using warm back-up S axis, while switching using backup optical
Source works on.
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| CN108931239B (en) * | 2018-04-27 | 2021-11-30 | 华中光电技术研究所（中国船舶重工集团有限公司第七一七研究所） | Embedded micro-miniature single-shaft fiber-optic gyroscope |
| CN111060090A (en) * | 2020-01-17 | 2020-04-24 | 枣庄学院 | Triaxial integrated satellite-borne fiber optic gyroscope light path |
| CN111780742B (en) * | 2020-09-07 | 2021-01-05 | 武汉长盈通光电技术股份有限公司 | Optical fiber gyroscope with online fault self-checking function |
| CN112097756A (en) * | 2020-09-16 | 2020-12-18 | 上海航天控制技术研究所 | Miniature optical fiber gyroscope combined system for satellite |
| CN112097755A (en) * | 2020-09-16 | 2020-12-18 | 上海航天控制技术研究所 | Light path component structure for optical fiber gyroscope combined system |
| CN114812616B (en) * | 2022-06-28 | 2022-09-02 | 中国船舶重工集团公司第七0七研究所 | High-precision optical path testing method in optical fiber gyroscope |
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