fiber optic gyroscopes instrumentation: sensors and signals
TRANSCRIPT
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Fiber Optic GyroscopesInstrumentation: Sensors and Signals
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History
•Developed in the 1980s as an alternative to Laser Ring Gyroscopes.▫More compact▫Less sensitive
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Comparison and applications
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WHOI Puma
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How does a RLG work?
•Based on the Sagnac effect, like the FOG
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Basic FOG configuration
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Classical explanation
Δ k=kvc v=Ω×r d 𝜙=Δ k ⋅d s
•Basics
Variation in wave vector Wave vector Phase shift
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Classical explanation
•Phase difference
d 𝜙=[Ω×r ⋅ d s ] k
cd 𝜙=( kc )Ω cosΨ rsin χds
Using Geometry
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Classical explanation• Integrating phase difference along the path length
∫ rsin 𝜒 ds=2 AN Δ𝜙=( kc )Ω cosΨ 2 AN
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FOG Equation
Δ𝜙=( kc )Ω cosΨ 2 AN
𝜙 s=8𝜋 AN Ω p
𝜆c
𝜙 s=2 Δ𝜙 k=2𝜋 /𝜆 Ωp=ΩcosΨAngular wavenumber
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Relativistic Explanation
•*
*Only correct if the detector is moving with the gyroscope
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Open loop configuration with phase modulation
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Analog signal implementation
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Analog circuit implementation
• Issues:▫Fluctuations in offset voltages lower bias stability.▫Detectable angular velocity is limited to ▫Linearity and scale factor stability are easily
deteriorated by fluctuations in photodetector intensity.
II 0
=1+[J 0 (Φm )+2∑k − 1
∞
J 2k (Φm ) cos 2k𝜔mt ]cos𝜙 s+[2∑k −1
∞
J 2k −1 (Φm ) cos (2k −1)𝜔mt ]sin 𝜙s
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Signal Processing Used
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Digital circuit implementation
Digital signal processing apparatus. First to forth heterodyne mixers (2, 3, 4 and 5), an ADC (6), a timing pulse generating unit (7), a cosine/sine signal generating unit (8), first and second digital multipliers (9, 10), first and second digital filters (11, 12), a quadrant discriminating unit (13), an angular velocity computing unit (15), a phase modulation index computing unit (14) and a reference signal generating circuit (1).
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Digital circuit implementation
Digital signal processing apparatus. First to forth heterodyne mixers (2, 3, 4 and 5), an ADC (6), a timing pulse generating unit (7), a cosine/sine signal generating unit (8), first and second digital multipliers (9, 10), first and second digital filters (11, 12), a quadrant discriminating unit (13), an angular velocity computing unit (15), a phase modulation index computing unit (14) and a reference signal generating circuit (1).
3
2
1
4
Isolate different harmonics
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Digital circuit implementation
Digital signal processing apparatus. First to forth heterodyne mixers (2, 3, 4 and 5), an ADC (6), a timing pulse generating unit (7), a cosine/sine signal generating unit (8), first and second digital multipliers (9, 10), first and second digital filters (11, 12), a quadrant discriminating unit (13), an angular velocity computing unit (15), a phase modulation index computing unit (14) and a reference signal generating circuit (1).
4
5
Digital Filter Low pass => DC component kept
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Digital circuit implementation
Digital signal processing apparatus. First to forth heterodyne mixers (2, 3, 4 and 5), an ADC (6), a timing pulse generating unit (7), a cosine/sine signal generating unit (8), first and second digital multipliers (9, 10), first and second digital filters (11, 12), a quadrant discriminating unit (13), an angular velocity computing unit (15), a phase modulation index computing unit (14) and a reference signal generating circuit (1).
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Digital circuit implementation
Digital signal processing apparatus. First to forth heterodyne mixers (2, 3, 4 and 5), an ADC (6), a timing pulse generating unit (7), a cosine/sine signal generating unit (8), first and second digital multipliers (9, 10), first and second digital filters (11, 12), a quadrant discriminating unit (13), an angular velocity computing unit (15), a phase modulation index computing unit (14) and a reference signal generating circuit (1).
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Digital circuit implementation
Digital signal processing apparatus. First to forth heterodyne mixers (2, 3, 4 and 5), an ADC (6), a timing pulse generating unit (7), a cosine/sine signal generating unit (8), first and second digital multipliers (9, 10), first and second digital filters (11, 12), a quadrant discriminating unit (13), an angular velocity computing unit (15), a phase modulation index computing unit (14) and a reference signal generating circuit (1).
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Quantum Theoretical Performance Limit
,
, ,
Theoretically
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Sources of nonidealities
•Nonreciprocity – differences in the optical paths of the counter propagating waves
•Polarization•Backscattering•Magneto-optical Faraday
effect
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Case Study: RA2100 (KVH Industries)
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Case Study: RA2100 (KVH Industries)
Source: ftp://ftp.uni-duisburg.de/Hardware/KVH/ec2k-b.pdf
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Case Study: RA2100 (KVH Industries)
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Case Study: RA2100 (KVH Industries)
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Case Study: RA2100 (KVH Industries)
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Case Study: RA2100 (KVH Industries)
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Questions?