CN112556679B - A Positive and Negative Hexeman Spatial Four-Frequency Differential Laser Gyro - Google Patents
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Abstract
本发明提供了一种正负旋塞曼空间四频差动激光陀螺，包括异面腔体、阴极、两个阳极、在异面腔体的四个角上分别布设有腔平移镜以及三个输出镜，在其中一个输出镜上装设有合光棱镜，两个阳极分别布设在异面腔体的两个对立面上，阴极布设在异面腔体的非阳极侧面上，两个阳极和阴极之间的通光管道内充满增益介质，腔平移镜及三个输出镜与异面腔体一起构成陀螺环路，在两个阳极和阴极之间的增益区上布设有用于产生互易偏频的导电线圈。在导电线圈通电后产生磁场，与增益介质相互作用通过塞曼效应产生互易偏频，利用异面腔体的空间旋光效应产生非互易偏频，取消传统四频差动激光陀螺中的法拉第室和陀螺腔内元件，提高了四频差动激光陀螺的性能。
The invention provides a positive and negative cockpit space four-frequency differential laser gyroscope, which comprises a hetero-plane cavity, a cathode, two anodes, a cavity translation mirror and three output mirrors respectively arranged on the four corners of the hetero-plane cavity , a light-combining prism is installed on one of the output mirrors, the two anodes are respectively arranged on the two opposite surfaces of the different-plane cavity, the cathode is arranged on the non-anode side of the different-plane cavity, and the space between the two anodes and the cathode is The light-transmitting pipe is filled with gain medium, and the cavity translation mirror and three output mirrors together with the hetero-planar cavity form a gyro loop. A conductive coil for generating reciprocal bias frequency is arranged on the gain area between the two anodes and the cathode. . After the conductive coil is energized, a magnetic field is generated, which interacts with the gain medium to generate a reciprocal bias frequency through the Zeeman effect. The non-reciprocal bias frequency is generated by using the spatial optical rotation effect of the heterohedral cavity, which cancels the Faraday chamber in the traditional four-frequency differential laser gyroscope. And gyro cavity components, improve the performance of four-frequency differential laser gyro.
Description
Technical Field
The invention belongs to the field of laser gyroscopes, and particularly relates to a positive and negative plug-cock Raman space four-frequency differential laser gyroscope.
Background
Gyroscopes are one of the main components of inertial navigation. After the first appearance of lasers in the world in 1960, Heer and Rosenthal in 1962 proposed the concept of a ring laser gyro, which is believed to be capable of measuring rotation using a laser. After decades of development, laser gyroscopes have been put into practical use in many aspects, and become one of the main inertial instruments with high and medium precision. It has several advantages over conventional electromechanical gyros: 1. the performance is stable, firm and reliable, the acceleration resistance is good, and the impact vibration resistance is strong; the scale factor is stable, and the typical performance is ppm order; 2. the service life is long, the reliability is good, and the typical service life can reach more than 20 ten thousand hours; 3. the sensor has no cross coupling effect and is insensitive to the rotation angular velocity, the angular acceleration and the linear acceleration of the sensitive shaft in the orthogonal direction; 4. the dynamic range of angular rate measurement is wide, and the dynamic performance is good; 5. the starting time is short, the power consumption is low, the size is small, the weight is light, and the cost is low; 6. easy to interface with a computer. The output signal of the laser gyro is in a pulse form, and the digital quantity corresponding to the rotation angle is obtained by counting the pulses, so that the processing of a computer is facilitated; these advantages have led to the rapid replacement of electromechanical gyros with comparable accuracy by RLGs. Despite the constant emergence of new types of gyros, RLG should be preferred in medium precision applications where the scale factor stability requirements are extremely high.
The good performance of the laser gyro makes the laser gyro become an ideal device for medium-high precision inertial navigation. Mainly used are two-frequency mechanically dithered laser gyroscopes (MDRLGs) and four-frequency differential laser gyroscopes (NFFDLGs). The four-frequency laser gyroscope has the characteristics of no mechanical noise, full solid state, high scale factor stability, no signal delay and the like, and is widely applied to the military fields of high-precision attitude measurement, precise positioning and orientation, guidance, navigation and the like abroad.
The concept of a four-frequency differential laser gyro was first proposed by h.de Lang in 1964 and proposed the use of a faraday rotator and a phase anisotropic ring resonator to generate four circular polarization mode frequencies to form a four-frequency RLG to avoid the latch-up problem. A number of groups have conducted related studies later, but at the time, they were going to the horse primarily due to the negative effects of the intracavity element, the crystal plate or Faraday cage, leading to poor performance. In 1978 t.dorschner et al proposed that a space loop heterofacial cavity structure be used in place of a crystal plate to generate reciprocal bias frequency, eliminating negative effects such as birefringence, loss, temperature sensitivity, etc. introduced by the crystal plate. The space loop non-coplanar cavity can replace a crystal plate to generate reciprocal offset frequency, and the non-reciprocal offset frequency can be generated by a Faraday chamber, a Zeeman effect and a polar Kerr effect of a magnetic mirror, so that the generation of the four-frequency laser gyro without an intracavity element except a reflector plate becomes possible, but the scheme has not been a practical product at present. If the magnetic mirror frequency-offset four-frequency laser gyro is proved to be not practical due to high loss, the Zeeman frequency-offset four-frequency differential laser gyro (which is different from the scheme of the invention and is called as a left-handed and right-handed Zeeman frequency-offset four-frequency differential laser gyro) is sensitive to a magnetic field, frequency stabilization and the like, and only the scheme of combining a spatial loop non-coplanar cavity and a Faraday chamber is finally practical. 1The patent of Raytheon company purchased from Litton company in 985 years, and through a series of technical challenges, the Faraday optical rotation glass surface ultra-low loss antireflection film (can)<100ppm), high-precision four-frequency differential Laser Gyro was developed and mass-produced in 1991, namely Zero-Lock area Laser Gyro Zero Lock-in Laser Gyro, ZLGTM。
To further improve the performance of the four-frequency differential laser gyro, the number of components in the gyro cavity must be reduced, and the loss must be reduced. If the intracavity element quartz wafer which generates the reciprocity effect in the plane loop four-frequency gyroscope is removed and replaced by the reciprocity effect of the space loop, the null shift caused by the effects of the quartz wafer such as installation, stress, temperature and the like disappears, and the performance of the laser gyroscope is improved. However, the heterofacial cavity + Faraday chamber scheme spatial four-frequency differential laser gyro also has some problems in development, such as larger temperature sensitivity of the gyro, and difference between zero-bias stability and zero-bias repeatability compared with a high-precision two-frequency mechanical jitter laser gyro. Particularly, in some application occasions, such as high-precision attitude control and compensation of a satellite, a strategic inertial navigation system and the like, the angle random walk coefficient of the spatial four-frequency differential laser gyro is also larger. For the four-frequency differential laser gyro of the out-of-plane cavity + faraday chamber scheme, the main sources of the above errors are the intra-cavity element, namely the faraday chamber. The performance of the gyroscope is greatly improved if the adverse effects of the faraday cage can be eliminated. Under the current processing technology and installation technology level, if the precision of the gyroscope is difficult to greatly improve by specially attacking a high-performance Faraday chamber and the processing and installation technology thereof, the realization scheme of the four-frequency laser gyroscope must be considered additionally. In summary, the elimination of the intra-cavity element, faraday cage, is a necessary development for obtaining a higher precision laser gyro. The right-left rotating plug manshift frequency four-frequency differential laser gyro has no element in the cavity, and theoretically can obtain high-precision performance, but the right-left rotating scheme has insurmountable theoretical defects in principle, such as the basic mode distribution of the right-left rotating plug manshift frequency four-frequency differential laser gyro shown in fig. 2, the net gain difference of a single gyro on a mode is very large, so that the light intensity difference is very large, and the light intensity difference is also very large along with the change of the working point frequency, so that the null shift is influenced, which is the main reason why the right-left rotating plug manshift frequency four-frequency differential laser gyro cannot be applied.
Disclosure of Invention
The invention aims to solve the technical problem of how to improve the precision of a laser gyro on the basis of removing an element in a cavity, and provides a positive and negative plug Raman space four-frequency differential laser gyro.
In order to solve the problem, the technical scheme adopted by the invention is as follows:
a positive and negative plug Raman space four-frequency differential laser gyroscope comprises a non-planar cavity, a cathode, two anodes, cavity translation mirrors and three output mirrors, wherein the cavity translation mirrors and the three output mirrors are respectively arranged at four corners of the non-planar cavity, a light combining prism is arranged on one of the output mirrors, the two anodes are respectively arranged on two opposite surfaces of the non-planar cavity, the cathode is arranged on a non-anode side surface of the non-planar cavity, a light transmission pipeline of the non-planar cavity is filled with a gain medium, the cavity translation mirrors, the three output mirrors and the non-planar cavity form a space loop of the gyroscope, and a conductive coil for generating reciprocal offset frequency is arranged on a gain area between the two anodes and the cathode.
Compared with the prior art, the invention has the following beneficial effects:
according to the positive and negative plug-in Raman space four-frequency differential laser gyroscope, after the conductive coil is electrified, a magnetic field is generated, the magnetic field interacts with a gain medium to generate reciprocal offset frequency required by the work of the four-frequency differential laser gyroscope through a Zeeman effect, the nonreciprocal offset frequency is provided by utilizing the spatial optical rotation effect of the non-planar cavity, a Faraday chamber in the traditional four-frequency differential laser gyroscope is eliminated, and elements in the gyroscope cavity are removed; the net gain of the single gyroscope in the matched mode is balanced, and the light intensity difference of the single gyroscope is greatly reduced, so that the performance of the four-frequency differential laser gyroscope is finally improved.
Drawings
FIG. 1 is a schematic diagram of a laser gyroscope according to the present invention;
FIG. 2 is a schematic diagram of the distribution of the fundamental mode of a left-right stopcock Manchester offset frequency four-frequency differential laser gyro;
fig. 3 is a schematic diagram of the basic mode distribution of the positive and negative plug-Raman space four-frequency differential laser gyro.
Detailed Description
In the right and left rotating manman laser gyro scheme, the structure makes use of the difference in refractive index of crystal wafer to the left and right circularly polarized light propagating along the optical axis direction, so that the optical path lengths of the right and left rotating circular polarization in the laser gyro are unequal, fig. 2 shows the mode distribution of the right and left rotating manman frequency-shifting four-frequency differential laser gyro, and it can be seen that there is a frequency difference with the q longitudinal mode. The longitudinal magnetic field acts on the gain medium, and the frequency difference of positive and negative circularly polarized light is generated by utilizing the Zeeman effect. For the same positive (negative) rotation, the propagation directions of the left and right rotation are opposite in the optical path; for both left (right) rotation, the positive and negative rotation travel in opposite directions in the optical path. Therefore, in the scheme, the Zeeman gyroscope consists of a pair of left-handed single gyroscopes and right-handed single gyroscopes. The four frequency modes are all the same q longitudinal mode and the clockwise mode (v) of the left handLC) And a left-handed counterclockwise mode (v)LCC) Constituting a clockwise mode (v) of left-handed single gyro, right-handedRC) And a right-handed counterclockwise mode (v)RCC) Form a right-handed single gyroscope with a fixed offset frequency vHThe longitudinal magnetic field acts on the gain medium, and the frequency difference of positive and negative circularly polarized light is generated by utilizing the Zeeman effect. Due to the center frequency spacing v of the left-right rotation pairRL＝vR0-vL0Compared with the internal offset frequency v of a single gyroscopeHMuch larger, typically several hundred mhz, so a pair of left-handed modes constitutes a left-handed single gyro and a pair of right-handed modes constitutes a right-handed single gyro. Under the action of an external input angular velocity omega, the beat frequencies of the left-handed and right-handed single gyroscope are respectively as follows:
vL≡vLC-vLCC＝vH-vΩ，
vR≡vRCC-vRC＝vH+vΩ
wherein v isLIs the output frequency, v, of a single left-handed gyroscopeRIs the output frequency, v, of a right-handed single gyroΩIs the outside worldThe input angular velocity Ω. For frequency vRAnd vLRespectively counting the output signals and then solving the difference and sum of the output signals, namely:
vSUM＝vR+vL＝2vH
wherein v isOIs the difference between the output frequencies of the left-right rotation single gyroscope and is proportional to the input angular velocity omega, vSUMIs the Faraday frequency offset vHA is the area enclosed by the annular optical path, L is the geometric length of the annular optical path, and λ is the wavelength. The offset frequency of the space loop four-frequency laser gyro is due to the difference, vHThe stability of the two-frequency single gyroscope basically does not influence the calculation of the angular speed any more, and in addition, the scale factor is 2 times that of the two-frequency single gyroscope, so that the sensitivity is improved by one time.
The quality of a design scheme of a gyroscope is evaluated, errors of the design scheme are mainly analyzed, and whether corresponding measures can be taken to eliminate or control the errors to be within an acceptable range or not is mainly considered. The gyroscope adopts a scheme of adding water into a planar cavity, and has the advantages of fewer elements in the cavity, low processing difficulty of the planar cavity and the like. It has serious drawbacks:
one is that the paired modes of each single gyro differ relatively greatly in net gain. Taking a left-handed single gyroscope as an example, two modes of the left-handed single gyroscope are from different gain curves, the position difference of the respective gain curves is large, the net gain difference of the single gyroscope to the mode is large, and therefore, the light intensity difference is large, and the light intensity difference is also large along with the change of the working point frequency, so that the null shift is influenced, which is one of the main reasons that the left-handed and right-handed four-frequency laser gyroscopes cannot be applied.
Secondly, in order to avoid the appearance of an abnormal-q longitudinal mode in the cavity and ensure that the net gain of each working mode is larger than zero, the magnetic field cannot be overlarge, the offset frequency quantity is in direct proportion to the applied magnetic field, the size of the offset frequency quantity is limited by the size of the magnetic field, and the measurement range is limited.
As shown in fig. 1, the present invention provides a structural schematic diagram of a positive and negative rotating plug-man spatial four-frequency differential laser gyroscope, which includes an out-of-plane cavity 10, a cathode 2, two anodes 3, a cavity translational mirror 5 and three output mirrors 6, 7, 8 respectively arranged at four corners of the out-of-plane cavity 10, wherein one of the output mirrors is provided with a light-combining prism 9, the two anodes 3 are respectively arranged on two opposite surfaces of the out-of-plane cavity 10, the cathode 2 is arranged on a non-anode side surface of the out-of-plane cavity 10, a light-transmitting pipeline of the out-of-plane cavity 10 is filled with a gain medium, the cavity translational mirror 5, the three output mirrors 6, 7, 8 and the out-of-plane cavity 10 form a spatial loop of the gyroscope together, and a conductive coil 1 for generating reciprocal frequency offset is arranged on a gain region between the two anodes 3 and the cathode 2.
The constant nonreciprocal offset frequency of any single gyroscope in the cavity of the four-frequency laser gyroscope is generated by a space loop effect.
The constant nonreciprocal offset frequency determines the dynamic measurement range of the gyroscope, theoretically, the range can be large, and a space loop with a large offset frequency can be designed. But the amount of this nonreciprocal offset frequency should not be designed too large because it also determines the bandwidth of the subsequent gyro detection circuit, which decreases the signal-to-noise ratio as the circuit bandwidth increases. In addition, if the offset frequency is too large, the light intensity difference inside the single gyroscope will also become large and will change with the change of the operating point, thereby adversely affecting the null shift.
The invention overcomes the thought that the left-right rotation gyro uses the different-surface cavity to generate different offset frequency and the magnetic field applied by the conductive coil generates nonreciprocal offset frequency in the traditional concept, the structure used by the invention is opposite to the structure used by the invention, the magnetic field applied by the conductive coil generates different offset frequency, and the different-surface cavity generates nonreciprocal offset frequency, and as shown in figure 3, the invention provides a schematic diagram of the basic mode distribution of the positive-negative plug Raman space four-frequency differential laser gyro, compared with figure 2, the invention can balance the net gain of a single gyro matched mode, and greatly reduce the light intensity difference of the single gyro; meanwhile, no intracavity element exists, so that a four-frequency differential laser gyro with higher performance is obtained. V in FIG. 3NCOutputting frequency, v, for clockwise mode of positive rotationNCCOutputting frequency, v, for counter-clockwise mode of positive rotationPCClockwise mould with negative rotationFormula output frequency, vPCCThe frequency is output for the counterclockwise mode of negative rotation.
The magnetic field applied by the conductive coil can make the gain peak interval between positive and negative optical rotation be delta vzGreater than the longitudinal mode spacing. Meanwhile, the gain peak interval delta v of the positive and negative rotating light is caused by the magnetic field applied to the conductive coilzUnder the condition of being larger than the interval of the longitudinal modes, the magnetic field applied by the conductive coil can enable the adjacent longitudinal modes v to be larger than the interval of the longitudinal modesq+1The positive rotation net gain is larger than zero, and the negative rotation net gain is smaller than zero; making adjacent longitudinal modes vqThe positive rotation net gain is less than zero, and the negative rotation net gain is greater than zero; thereby avoiding competing coupling between the two single gyros.
According to the structure of the positive and negative cock manway four-frequency differential laser gyro, a self-consistent equation set model of the positive and negative cock manway four-frequency differential laser gyro is derived from a self-consistent equation set of light intensity and frequency, the practical situation is considered, the problem is conveniently discussed, some error effects are ignored, the main error effect is highlighted, and a simplified null shift model is obtained. According to the research scheme, a corresponding null shift simplified model of the positive-negative plug Raman space four-frequency differential laser gyro is established by referring to a null shift simplified model of the left-right-handed rotation four-frequency laser gyro under the approximate condition of the nearly independent gyro. This is because, because the gyro error effect mainly originates from the coupling effect inside a single gyro, the coupling effect between gyros is small compared to it, and if the coupling effect between two gyros is added, it can only have some effect in quantitative aspect, and it cannot be completely accurate, and there is no substantial difference to the application level. The simplified model is therefore based on a near independent gyro approximation. The basic expression of the output beat frequency of the positive and negative gyroman space four-frequency differential laser gyroscope under the approximation of a near independent gyroscope is as follows:
in the above formula, ω1＝2π·vNCCCounterclockwise angular frequency, ω, of positive rotation2＝2π·vNCClockwise angular frequency, ω, of positive rotation3＝2π·vPCClockwise angular frequency, omega, of negative rotation4＝2π·vPCCCounterclockwise angular frequency, ω, of negative rotationΩ＝2π·vΩFor the change of angular frequency, omega, caused by the external input of angular velocity omegaH＝2π·vHAn angular frequency that is a fixed offset frequency; SFC (Small form-factor pluggable) device12Is the relative scale factor correction of medium anomalous dispersion effect to negative rotation gyro, SFC34Is the correction of the relative scale factor of the spinning top, and the SFC is the correction of the relative scale factor of the differential spinning top, and the expression is
Is 2 pi times of wave number, namely the wave length number of unit length, and V is the total average flow velocity of two arms of Langmuir flowing in the discharge capillary; rho, tau, beta and theta are respectively a self-repulsion coefficient, a mutual-repulsion coefficient, a self-saturation coefficient and a mutual-saturation coefficient; gamma is the single pass loss;
for the purpose of the frequency parameter to be introduced,
(
for the half-width of the doppler broadened band,
the center frequency of the positive and negative optical gain curves); -SFC × 4KV is the Langmuir effect term,
is a difference loss zero drift term.
According to the formula 1 and the result of theoretical research, the influence of each zero drift on the error is analyzed, then corresponding measures for inhibiting each error are provided according to the error model, and each error is controlled within an acceptable range. Preliminary analysis, the following qualitative conclusions were drawn:
1. correcting a null shift error caused by the SFC by the relative scale factor of the differential gyroscope; since the stability of the relative scale factor is directly related to the stability of the gyro frequency and the gain, the stable control of the frequency and the gain is still necessary for the gyro of the scheme. In practice, a high-precision detection and control circuit is adopted to improve the control precision of frequency stability and gain stability as much as possible;
2. difference between medium anomalous dispersion effect and relative scale factor correction of positive and negative spinning single gyro (SFC)12-SFC34) The resulting null shift; this term indicates (SFC)12-SFC34) The smaller the better, the more null or near null this term can be made by the tuning cavity changing the position of the gyro on the gain curve. This is consistent with the optimal operating point control of the gyros for left and right rotations;
the error of the SFC multiplied by 4KV is a Langmuir flow term, and can be effectively inhibited through symmetrical and reasonable design of a discharge region;
4.
in order to lose the zero drift term, the error is complex, and the process of the gyroscope needs to be further improved to reduce the error. The technology of the left-right-handed four-frequency gyroscope is mature at present, and the method for inhibiting the error is communicated with the left-handed four-frequency gyroscope, and can be directly used for reference in practice.
The basic expression of beat frequency is output by the positive and negative gyroman space four-frequency differential laser gyroscope under the approximate condition of a nearly independent gyroscope, and the error analysis shows that the structure of the invention can realize the control of the zero drift error, and the gyroscope scheme has sufficient feasibility.
In addition, after the conductive coil is electrified, a magnetic field is generated, the magnetic field interacts with a gain medium to generate reciprocal offset frequency required by the working of the four-frequency differential laser gyro through the Zeeman effect, the non-reciprocal offset frequency is provided by utilizing the spatial optical effect of the non-planar cavity, a Faraday chamber in the traditional four-frequency differential laser gyro is eliminated, and elements in the gyro cavity are removed; the net gain of the single gyroscope in the matched mode is balanced, and the light intensity difference of the single gyroscope is greatly reduced, so that the performance of the four-frequency differential laser gyroscope is finally improved.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
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| CN101975574A (en) * | 2010-10-01 | 2011-02-16 | 中国人民解放军国防科学技术大学 | Small jitter frequency stabilization method of four-frequency laser gyro |
| CN103033178B (en) * | 2012-09-20 | 2015-05-27 | 中国人民解放军国防科学技术大学 | Laser gyroscope offset frequency method based on external cavity feedback |
| CN109489651B (en) * | 2018-10-31 | 2020-05-01 | 中国人民解放军国防科技大学 | Four-frequency differential laser gyro Faraday magneto-optical glass installation method |
| RU2731171C1 (en) * | 2019-10-01 | 2020-08-31 | федеральное государственное автономное образовательное учреждение высшего образования "Московский физико-технический институт (национальный исследовательский университет)" | Four-frequency laser gyroscope of zeeman type |
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