谐振式光纤陀螺关键器件研究
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摘要
基于Sagnac效应的光纤陀螺是一种高精度的惯性角速度传感器,在导航和制导领域有着重要的地位。谐振式光纤陀螺(Resonator Fiber Optic Gyroscope, RFOG)以光纤谐振腔为核心敏感元件,短光纤的环长就能实现高的精度,它是实现高精度和小型化光纤陀螺的重要途径。
为了提高RFOG的检测精度和线性动态范围,本论文对RFOG的激光器频率噪声、光纤谐振腔的偏振噪声以及闭环检测进行了深入而细致的研究,主要的创新点包括：
(1)高相干性光源是研制RFOG非常重要的关键元件,论文首次对可小型化半导体激光器用于RFOG的可行性开展理论和实验研究。研究了激光器频率噪声对RFOG检测精度的影响,研究发现,低频处的激光频率噪声被搬移到了调制频率上,并极大地影响了RFOG的检测精度；采用激光稳频回路减小激光频率噪声影响,建立激光稳频回路分析模型,分析了环路参数包括环路(直流)增益、延时和低通滤波器等对激光器频率噪声的抑制作用；利用高清晰度光纤谐振腔,建立一种在线测试激光器频率噪声的方法,并进一步优化了环路参数,最终把剩余激光器频率噪声减小到0.021Hz(1σ,10s的积分时间),它等效于0.07°/h的转动速度,接近散粒噪声决定的极限灵敏度。以上工作为解决RFOG光源小型化问题提供了理论和实验依据。
(2)针对长期制约着RFOG稳定性提高的偏振噪声问题,论文提出了2次90°偏振轴旋转熔接的起偏谐振腔结构,理论和实验表明,该起偏谐振腔能够有效克服长期制约着RFOG稳定性提高的偏振噪声问题,大幅提高该陀螺的温度特性。基于琼斯矩阵,论文建立了起偏谐振腔谐振特性的分析模型；分析并实际测试了不同温度下起偏谐振腔的谐振特性；将总长为14米的起偏谐振腔应用于实际RFOG系统,样机角度随机游走达0.083°/√h,零偏1小时稳定性优于10/h；进一步的温度特性测试表明,当光纤谐振腔温度从36.2°C降低至33°C时(8分钟时间),RFOG仍保持着稳定的开环输出。以上研究表明,2次90°偏振轴旋转熔接的起偏谐振腔有效抑制了偏振波动噪声,极大地提高了RFOG的长期稳定性,这是国际上首次在变温条件下测得的最好结果。
(3)通过改进数字锯齿波调制技术,设计并实现了一种基于相位调制器的高精度的等效移频器,频率分辨率为0.01Hz/LSB,移频范围为±1.25MHz；将上述等效移频器应用于RFOG,从而实现了闭环检测的RFOG系统,零偏1小时稳定性为2.1°/h,接近于开环检测系统;和开环检测相比,闭环RFOG具有更大的线性范围和更低的标度因素非线性度,测试结果表明,线性检测范围从开环检测的±215°/s扩展到±1076°/s,动态范围扩大了5倍,标度因数非线性度从开环检测的1.2%降低到0.02%(200ppm),标度因数非线性度改善了60倍。
总之,通过抑制激光器频率噪声和偏振波动噪声,提高了RFOG的短期和长期稳定性,零偏1小时稳定性优于1°/h,通过闭环检测提高了陀螺输出的线性动态范围,并极大地改善了标度因数非线性度。以上工作使得RFOG的实际应用成为可能。
Fiber optic gyroscope is a high accuracy inertial rotation sensor based on the Sagnac effect. It plays an important role in the field of navigation and guidance. A resonator fiber optic gyroscope (RFOG) has the potential to achieve the inertial navigation system requirement with a short sensing coil. It is a good choice of the fiber optic gyroscope with a small volume and light weight.
To improve the stability and linear dynamic range of the RFOG, the dissertation will do the reaserch on the laser frequency noise, polarization noise and closed detection. The main innovational work and achievements are further highlighted as follows:
(1) A highly coherent light source is a key component in the RFOG. The possibility of employing a miniature semiconductor laser in the RFOG is investigated both theoretically and experimentally. The phase modulation spectrum technology is always used in the RFOG for achieving a high sensitivity detection. Both the theoretical analysis and the experimental results show that the laser frequency noise is amplitude modulated to the modulation frequency, which is a huge noise source for the RFOG. To suppress the laser frequency noise, an active frequency stabilization is applied in the dissertation. The model of the stabilization loop and the related loop parameters, including the loop (direct current) gain, the loop delay and the low-pass filter, are also demonstrated. Benefiting from the high finesse fiber resonator, an on-line and sensitive laser frequency noise observation compatible with the RFOG itself is built, as a powerful optimum criterion for the loop parameters in the experiment. With the help of the built observation window, we improve and optimize the loop, and decrease the laser frequency noise down to0.021Hz (lα) for the integration time of10s, which is equivalent to a rotation rate of0.07°/h, and close to the shot noise limit for the RFOG. This successful work provides a promising technical solution to the miniaturization of the laser source in the RFOG.
(2) A novel fiber ring resonator is configurated by inserting two in-line polarizers in a polarization-maintaining fiber (PMF) resonator with twin90°polarization-axis rotated splices. This solution effectively solved the temperature-related polarization noise that has restricted the long-term stability of the RFOG. Using the Jones Matrix, a simulation model used to analyze the thermal-related poarization charactersitics in the resonator is set up. Both the theoretical analysis and the experimental results show that this novel polarizing resonator is insensitive to environmental temperature variations. Then, an RFOG empolying this novel polarizing resonator is built. The total fiber length of the resonator is14m. A stable open-loop output in an hour is achieved with the random walk coeffcient of0.083°/h and the bias stability below1°/h.When the temperature of the resonator is changed from36.2℃to33℃in eight minutes, the open-loop gyroscope output is stable and do not drift with the temperature. It shows that the polarization-fluctuation noise is suppressed and the long-term stability of the RFOG is improved effectively by employing this novel resonator. To the best of our knowledge, these results are the best ever demonstrated in an RFOG in a temperature varied environment.
(3) An improved frequency shifting module is designed and constructed on a LiNbO3phase modulator. Its frequency resolution is reduced to0.01Hz/LSB and frequency shifting range is widend to±1.25MHz. With the frequency shifter applied in the RFOG, a closed-loop detection is demonstrated, whose bias stability is around2.1°/h approximately equal to that of the open-loop output. Compared to the open-loop detection, the closed-loop RFOG has a wider linear range and a lower scale factor nonlinearity. The measured result shows that the open-loop linear detection range of±215°/s is improved to±1076°/s. It is improved by a factor of5. The open-loop scale factor nonlinearity of1.2%is decreased to0.02%(200ppm), which is improved by a factor of60.
In a word, the gyro bias stability below1°/h is successufully demonstrated by suppressing both the laser frequency noise and the polarization-fluctuation noise. Good linearity is also achieved thanks to the closed-loop detection. These achievements open up the possibility to the commercialization of RFOG.
为了提高RFOG的检测精度和线性动态范围,本论文对RFOG的激光器频率噪声、光纤谐振腔的偏振噪声以及闭环检测进行了深入而细致的研究,主要的创新点包括：
(1)高相干性光源是研制RFOG非常重要的关键元件,论文首次对可小型化半导体激光器用于RFOG的可行性开展理论和实验研究。研究了激光器频率噪声对RFOG检测精度的影响,研究发现,低频处的激光频率噪声被搬移到了调制频率上,并极大地影响了RFOG的检测精度；采用激光稳频回路减小激光频率噪声影响,建立激光稳频回路分析模型,分析了环路参数包括环路(直流)增益、延时和低通滤波器等对激光器频率噪声的抑制作用；利用高清晰度光纤谐振腔,建立一种在线测试激光器频率噪声的方法,并进一步优化了环路参数,最终把剩余激光器频率噪声减小到0.021Hz(1σ,10s的积分时间),它等效于0.07°/h的转动速度,接近散粒噪声决定的极限灵敏度。以上工作为解决RFOG光源小型化问题提供了理论和实验依据。
(2)针对长期制约着RFOG稳定性提高的偏振噪声问题,论文提出了2次90°偏振轴旋转熔接的起偏谐振腔结构,理论和实验表明,该起偏谐振腔能够有效克服长期制约着RFOG稳定性提高的偏振噪声问题,大幅提高该陀螺的温度特性。基于琼斯矩阵,论文建立了起偏谐振腔谐振特性的分析模型；分析并实际测试了不同温度下起偏谐振腔的谐振特性；将总长为14米的起偏谐振腔应用于实际RFOG系统,样机角度随机游走达0.083°/√h,零偏1小时稳定性优于10/h；进一步的温度特性测试表明,当光纤谐振腔温度从36.2°C降低至33°C时(8分钟时间),RFOG仍保持着稳定的开环输出。以上研究表明,2次90°偏振轴旋转熔接的起偏谐振腔有效抑制了偏振波动噪声,极大地提高了RFOG的长期稳定性,这是国际上首次在变温条件下测得的最好结果。
(3)通过改进数字锯齿波调制技术,设计并实现了一种基于相位调制器的高精度的等效移频器,频率分辨率为0.01Hz/LSB,移频范围为±1.25MHz；将上述等效移频器应用于RFOG,从而实现了闭环检测的RFOG系统,零偏1小时稳定性为2.1°/h,接近于开环检测系统;和开环检测相比,闭环RFOG具有更大的线性范围和更低的标度因素非线性度,测试结果表明,线性检测范围从开环检测的±215°/s扩展到±1076°/s,动态范围扩大了5倍,标度因数非线性度从开环检测的1.2%降低到0.02%(200ppm),标度因数非线性度改善了60倍。
总之,通过抑制激光器频率噪声和偏振波动噪声,提高了RFOG的短期和长期稳定性,零偏1小时稳定性优于1°/h,通过闭环检测提高了陀螺输出的线性动态范围,并极大地改善了标度因数非线性度。以上工作使得RFOG的实际应用成为可能。
Fiber optic gyroscope is a high accuracy inertial rotation sensor based on the Sagnac effect. It plays an important role in the field of navigation and guidance. A resonator fiber optic gyroscope (RFOG) has the potential to achieve the inertial navigation system requirement with a short sensing coil. It is a good choice of the fiber optic gyroscope with a small volume and light weight.
To improve the stability and linear dynamic range of the RFOG, the dissertation will do the reaserch on the laser frequency noise, polarization noise and closed detection. The main innovational work and achievements are further highlighted as follows:
(1) A highly coherent light source is a key component in the RFOG. The possibility of employing a miniature semiconductor laser in the RFOG is investigated both theoretically and experimentally. The phase modulation spectrum technology is always used in the RFOG for achieving a high sensitivity detection. Both the theoretical analysis and the experimental results show that the laser frequency noise is amplitude modulated to the modulation frequency, which is a huge noise source for the RFOG. To suppress the laser frequency noise, an active frequency stabilization is applied in the dissertation. The model of the stabilization loop and the related loop parameters, including the loop (direct current) gain, the loop delay and the low-pass filter, are also demonstrated. Benefiting from the high finesse fiber resonator, an on-line and sensitive laser frequency noise observation compatible with the RFOG itself is built, as a powerful optimum criterion for the loop parameters in the experiment. With the help of the built observation window, we improve and optimize the loop, and decrease the laser frequency noise down to0.021Hz (lα) for the integration time of10s, which is equivalent to a rotation rate of0.07°/h, and close to the shot noise limit for the RFOG. This successful work provides a promising technical solution to the miniaturization of the laser source in the RFOG.
(2) A novel fiber ring resonator is configurated by inserting two in-line polarizers in a polarization-maintaining fiber (PMF) resonator with twin90°polarization-axis rotated splices. This solution effectively solved the temperature-related polarization noise that has restricted the long-term stability of the RFOG. Using the Jones Matrix, a simulation model used to analyze the thermal-related poarization charactersitics in the resonator is set up. Both the theoretical analysis and the experimental results show that this novel polarizing resonator is insensitive to environmental temperature variations. Then, an RFOG empolying this novel polarizing resonator is built. The total fiber length of the resonator is14m. A stable open-loop output in an hour is achieved with the random walk coeffcient of0.083°/h and the bias stability below1°/h.When the temperature of the resonator is changed from36.2℃to33℃in eight minutes, the open-loop gyroscope output is stable and do not drift with the temperature. It shows that the polarization-fluctuation noise is suppressed and the long-term stability of the RFOG is improved effectively by employing this novel resonator. To the best of our knowledge, these results are the best ever demonstrated in an RFOG in a temperature varied environment.
(3) An improved frequency shifting module is designed and constructed on a LiNbO3phase modulator. Its frequency resolution is reduced to0.01Hz/LSB and frequency shifting range is widend to±1.25MHz. With the frequency shifter applied in the RFOG, a closed-loop detection is demonstrated, whose bias stability is around2.1°/h approximately equal to that of the open-loop output. Compared to the open-loop detection, the closed-loop RFOG has a wider linear range and a lower scale factor nonlinearity. The measured result shows that the open-loop linear detection range of±215°/s is improved to±1076°/s. It is improved by a factor of5. The open-loop scale factor nonlinearity of1.2%is decreased to0.02%(200ppm), which is improved by a factor of60.
In a word, the gyro bias stability below1°/h is successufully demonstrated by suppressing both the laser frequency noise and the polarization-fluctuation noise. Good linearity is also achieved thanks to the closed-loop detection. These achievements open up the possibility to the commercialization of RFOG.
引文
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