阅读说明：本技术 一种光纤陀螺仪 (Optical fiber gyroscope ) 是由 金文光 彭晓星 吴明忠 于 2021-10-13 设计创作，主要内容包括：本发明提出了一种光纤陀螺仪,涉及陀螺仪领域。包括：壳体和安装于壳体内的光源、第一耦合器和三组光纤陀螺；光源发出的光经第一耦合器后分为三束光分别进入三组光纤陀螺；每组光纤陀螺均包括依次连接的第二耦合器、Y波导、光纤环、光电探测器和信号处理电路；在光纤惯导中采样一体化设计技术,即由一个光源来驱动三只光纤陀螺,有效地解决了光源稳定性和参数一致性问题,攻克了三轴复用光路抗交叉干扰技术。小型化集成技术及光纤陀螺仪快速启动等关键技术。从而节约成本。减小体积。缩短系统的启动时间。提高系统的可靠性,且具备抗振动冲击的能力。(The invention provides an optical fiber gyroscope, and relates to the field of gyroscopes. The method comprises the following steps: the device comprises a shell, a light source, a first coupler and three groups of fiber-optic gyroscopes, wherein the light source, the first coupler and the three groups of fiber-optic gyroscopes are arranged in the shell; light emitted by the light source is divided into three beams of light after passing through the first coupler and enters the three groups of fiber optic gyroscopes respectively; each group of fiber optic gyroscopes comprises a second coupler, a Y waveguide, a fiber optic ring, a photoelectric detector and a signal processing circuit which are connected in sequence; the sampling integrated design technology in the optical fiber inertial navigation is that three optical fiber gyroscopes are driven by one light source, so that the problems of light source stability and parameter consistency are effectively solved, and the cross interference resisting technology of a three-axis multiplexing optical path is overcome. The method comprises the key technologies of miniaturization integration technology, quick start of the optical fiber gyroscope and the like. Thereby saving costs. The volume is reduced. The start-up time of the system is shortened. The reliability of the system is improved, and the system has the capability of resisting vibration and impact.)

1. An optical fiber gyroscope, comprising: the device comprises a shell, a light source, a first coupler and three groups of fiber-optic gyroscopes, wherein the light source, the first coupler and the three groups of fiber-optic gyroscopes are arranged in the shell;

light emitted by the light source is divided into three beams of light after passing through the first coupler and then enters the three groups of fiber optic gyroscopes respectively;

each group of fiber optic gyroscopes comprises a second coupler, a Y waveguide, a fiber optic ring, a photoelectric detector and a signal processing circuit which are connected in sequence;

the second coupler in each group of fiber optic gyroscopes divides a beam of light sent from the first coupler into two parts, wherein one beam of light enters the Y waveguide, two beams of linearly polarized light which meets the coherence condition and has high polarization degree are output after being adjusted inside the Y waveguide, the two beams of linearly polarized light are oppositely transmitted in the fiber ring, the external angular rate is induced, the photoelectric detector detects the light intensity change of the interference signal, the light signal is converted into an electric signal and then input to the signal processing circuit to be processed to generate a modulation voltage signal to adjust the Y waveguide, and the Y waveguide generates feedback phase shift which is equal to the external Sagnac phase shift in size and opposite to the external Sagnac phase shift in direction.

2. The optical fiber gyroscope according to claim 1, wherein the housing includes a cover body and a bottom cover, the cover body and the bottom cover are detachably connected, the bottom cover is symmetrically provided with first fixing holes on left and right sides, the fixing holes penetrate through the bottom cover from top to bottom, and the fixing holes are located outside the cover body.

3. The optical fiber gyroscope according to claim 2, wherein the bottom surface of the bottom cover is symmetrically provided with the inlet ports on the left and right sides.

4. The optical fiber gyroscope of claim 2, wherein a side wall of the housing is provided with a mounting opening for mounting a connector.

5. The optical fiber gyroscope according to claim 2, wherein the lower portion of the cover is provided with an outward-inclined thickened portion, a lower bottom surface of the thickened portion is provided with a plurality of screw holes, the bottom cover is provided with a plurality of second fixing holes, and the screw holes correspond to the second fixing holes one to one.

6. The optical fiber gyroscope according to claim 1, wherein the signal processing circuit comprises an a/D circuit, a logic circuit and a D/a circuit, the a/D circuit receives the electrical signal of the photodetector and converts the electrical signal into a digital signal to be sent to the logic circuit for processing, and the D/a circuit outputs the modulation voltage signal.

7. The fiber optic gyroscope of claim 1, further comprising a transceiver and a GPS module connected to each other.

8. The optical fiber gyroscope of claim 7, wherein the transceiver comprises an ADM2587 chip, 0.01uF is connected between the input terminals of two VCC pins and the GND1 pin, the GPS module comprises a 10uF and 2 0.1uF capacitors, a 0.1uF capacitor and a 0.01uF capacitor between a Visout pin and a GND2 pin, a 0.1uF capacitor and a 1uF capacitor between a Visout pin and a GND2 pin, an RXD pin is used for sending signals to the GPS module, the Visout pin is connected with the Visout pin, the A pin and the Y pin are connected to serve as a half-duplex A signal line, the B pin and the Z pin are connected to serve as a half-duplex B signal line, the Visoun pin is connected to the A pin through a resistor R2, the GND2 pin is further connected with a voltage stabilizing circuit U20, two pins of the voltage stabilizing circuit U20 are respectively connected to the A pin and the B pin, the A pin and the B pin are respectively connected to a connector through a fuse tubes, and a resistor R38 is connected between the B pin and the GND2 pin.

9. The optical fiber gyroscope of claim 8, wherein the GPS module employs a GR-87 chip, the VCC pin of the GR-87 chip is grounded through a capacitor C92, the VCC pin is also connected with the No. 1 pin of the connector, the No. 1 pin of the connector is connected with the D pole of a field effect transistor Q1, an electron R32 is connected between the S pole and the G pole of the field effect transistor Q1, the G electrode of the field effect transistor Q1 is connected with the collector electrode of a triode Q2, the emitter of the triode Q2 is connected with the base level after passing through a resistor R34 and a resistor R33, the common end of the resistor R34 and the resistor R33 is connected with the No. 2 input end of an AND gate U24A, the TX _ A pin is connected with the No. 1 input end of the AND gate U24A, the RXD pin of an ADM2587 chip is connected with the No. 4 input end of the AND gate U24B, the output ends of the AND gate U24A and the AND gate U24B are respectively connected to the input end of the OR gate U25A, and the output end of the OR gate U25A is connected to the RX _ A pin of the GR-87 chip.

10. The optical fiber gyroscope of claim 9, wherein the type of the and gate U24A, the type of the and gate U24B is 74HC08, or the type of the gate U25A is 74HC 32.

Technical Field

The invention relates to the field of gyroscopes, in particular to an optical fiber gyroscope.

Background

The traditional inertial gyroscope mainly refers to a mechanical gyroscope, the mechanical gyroscope has high requirements on a process structure, the structure is complex, and the precision of the mechanical gyroscope is limited by many aspects. Since the seventies of the last century, the development of modern gyroscopes has entered a completely new phase. The modern optical fiber gyroscope is an instrument capable of accurately determining the direction of a moving object, is an inertial navigation instrument widely used in the industries of modern aviation, navigation, aerospace and national defense, and has very important strategic significance on the development of the industry, the national defense and other high-tech technologies of a country.

The implementation of the optical fiber gyroscope is mainly based on the seegming theory: when the light beam travels in a circular path, if the circular path itself has a rotational speed, then the light beam takes more time to travel in the direction of the path's rotation than in the opposite direction of the path's rotation. That is, as the optical loop rotates, the optical path length of the optical loop changes in different directions of travel relative to the optical path length of the loop when stationary. By detecting the phase difference between the two optical paths or the change of the interference fringe by using the change of the optical path, the rotation angular velocity of the optical path can be measured,

however, in practical applications, the light source of the optical fiber gyroscope is easily interfered, which results in the reduction of the accuracy of the navigation signal.

Disclosure of Invention

To overcome the above problems or at least partially solve the above problems, embodiments of the present invention provide an optical fiber gyroscope to improve the accuracy of navigation signals.

The embodiment of the invention is realized by the following steps:

an object of the present invention is to provide an optical fiber gyro including: the device comprises a shell, a light source, a first coupler and three groups of fiber-optic gyroscopes, wherein the light source, the first coupler and the three groups of fiber-optic gyroscopes are arranged in the shell;

the light emitted by the light source is divided into three beams of light after passing through the first coupler and then enters the three groups of fiber optic gyroscopes respectively;

each group of fiber optic gyroscopes comprises a second coupler, a Y waveguide, a fiber optic ring, a photoelectric detector and a signal processing circuit which are connected in sequence;

the second coupler in each group of fiber optic gyroscopes divides a beam of light sent from the first coupler into two parts, wherein one beam of light enters the Y waveguide, two beams of linearly polarized light which meets the coherence condition and has high polarization degree are output after being adjusted inside the Y waveguide, the two beams of linearly polarized light are oppositely transmitted in the fiber ring, the external angular rate is induced, the photoelectric detector detects the light intensity change of the interference signal, the light signal is converted into an electric signal and then input to the signal processing circuit to be processed to generate a modulation voltage signal to adjust the Y waveguide, and the Y waveguide generates feedback phase shift which is equal to the external Sagnac phase shift in size and opposite to the external Sagnac phase shift in direction.

In some embodiments of the present invention, the housing includes a cover body and a bottom cover, the cover body and the bottom cover are detachably connected, the bottom cover has first fixing holes symmetrically disposed on left and right sides, the fixing holes penetrate through the bottom cover from top to bottom, and the fixing holes are located outside the cover body.

In some embodiments of the present invention, the bottom cover has a left bottom surface and a right bottom surface, and the left bottom surface and the right bottom surface are symmetrically provided with the inlet.

In some embodiments of the present invention, a side wall of the housing is provided with a mounting opening for mounting the connector.

In some embodiments of the present invention, the lower portion of the cover body is provided with an outward-inclined thickened portion, a lower bottom surface of the thickened portion is provided with a plurality of screw holes, the bottom cover is provided with a plurality of second fixing holes, and the screw holes correspond to the second fixing holes one to one.

In some embodiments of the present invention, the signal processing circuit includes an a/D circuit, a logic circuit, and a D/a circuit, the a/D circuit receives the electrical signal of the photodetector and converts the electrical signal into a digital signal, and sends the digital signal to the logic circuit for processing, and the D/a circuit outputs the modulation voltage signal.

In some embodiments of the invention, the system further comprises a transceiver and a GPS module connected to each other.

In some embodiments of the present invention, the transceiver includes an ADM2587 chip, where 0.01uF, 10uF, and 2 0.1uF capacitors are connected between the input ends of two VCC pins and the GND1 pin, 0.1uF capacitor and 0.01uF capacitor between the Visoin pin and the GND2 pin, 0.1uF capacitor and 0uF capacitor 1 between the visuout pin and the GND2 pin, the RXD pin is used to transmit a signal to the GPS module, the visuout pin is connected to the Visout pin, the a pin and the Y pin are connected to an a signal line in half-duplex, the B pin and the Z pin are connected to a signal line in half-duplex, the Visoin pin is connected to the a pin through a resistor R2, the GND2 pin is further connected to a regulator circuit U20, two pins of the regulator circuit U20 are connected to the a pin and the B pin, the a pin and the B pin are connected to a connector through a fuse tubes, and a resistor R38 is connected between the B pin and the GND2 pin.

In some embodiments of the present invention, the GPS module employs a GR-87 chip, a VCC pin of the GR-87 chip is grounded via a capacitor C92, the VCC pin is further connected to a pin 1 of a connector, the pin 1 of the connector is connected to a pole D of a field effect transistor Q1, an electronic R32 is connected between the pole S and the pole G of a field effect transistor Q1, the pole G of the field effect transistor Q1 is connected to a collector of a transistor Q2, an emitter of the transistor Q2 is connected to a base stage via a resistor R34 and a resistor R33, a common terminal of a resistor R34 and a resistor R33 is connected to a No. 2 input terminal of an and gate U24A, a TX _ a pin is connected to a No. 1 input terminal of an and gate U24A, an RXD pin of the ADM2587 chip is connected to a No. 4 input terminal of an and gate U24B, output terminals of the and gates U24 GR 24A and U24B are respectively connected to an input terminal of an or an input terminal of a gate U25A, or an output terminal of an RX _ a gate U25 GR-25A.

In some embodiments of the present invention, the model numbers of the and gate U24A, the and gate U24B are 74HC08, or the model number of the gate U25A is 74HC 32.

Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:

the embodiment of the invention provides an optical fiber gyroscope for improving the navigation signal precision.

The embodiment of the invention is realized by the following steps:

an object of the present invention is to provide an optical fiber gyro including: the device comprises a shell, a light source, a first coupler and three groups of fiber-optic gyroscopes, wherein the light source, the first coupler and the three groups of fiber-optic gyroscopes are arranged in the shell; the three groups of fiber optic gyroscopes have consistent structures and all comprise a second coupler, a Y waveguide, a fiber optic ring, a photoelectric detector and a signal processing circuit. The light emitted by the light source is divided into three beams of light after passing through the first coupler and then enters the three groups of fiber optic gyroscopes respectively; the sampling integrated design technology in the optical fiber inertial navigation is that three optical fiber gyroscopes are driven by one light source, so that the problems of light source stability and parameter consistency are effectively solved, and the cross interference resisting technology of a three-axis multiplexing optical path is overcome. The method comprises the key technologies of miniaturization integration technology, quick start of the optical fiber gyroscope and the like. Thereby saving costs. The volume is reduced. The start-up time of the system is shortened. The reliability of the system is improved, and the system has the capability of resisting vibration and impact.

Specifically, the second coupler in each group of fiber optic gyroscopes divides a beam of light transmitted from the first coupler into two, wherein the beam of light enters the Y waveguide, two beams of linearly polarized light which satisfies a coherence condition and has high polarization degree are output after internal adjustment of the Y waveguide, the two beams of linearly polarized light are propagated in the fiber ring in opposite directions, an external angular rate is induced, the photodetector detects the light intensity change of the interference signal, converts the light signal into an electric signal and inputs the electric signal to the signal processing circuit to process the electric signal to generate a modulation voltage signal to adjust the Y waveguide, and the Y waveguide generates feedback phase shift which is equal to and opposite to the external Sagnac phase shift in direction. The optical fiber gyro compass adopts a strapdown inertial navigation technology, the basic working principle is based on the Newton's law of mechanics, the acceleration of a carrier in an inertial reference system is measured, the officer integrates the time, and then the integrated time is converted into a navigation coordinate system. And obtaining speed, yaw angle, position information and the like in the navigation coordinate system. Practical systems usually use inertial navigation systems as the main navigation system. And other navigation systems such as astronomical navigation, GPS and the like are taken as auxiliary navigation systems. Kalman filtering techniques are applied. And taking the auxiliary information as an observed quantity. And the state variable of the combined system is subjected to the navigation signal with high precision according to the credit theory.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic structural diagram of an embodiment of an optical fiber gyroscope according to the present invention;

FIG. 2 is a schematic structural diagram of an optical fiber gyroscope according to an embodiment of the optical fiber gyroscope of the present invention;

FIG. 3 is a schematic structural diagram of a housing in an embodiment of an optical fiber gyroscope according to the invention;

FIG. 4 is a schematic structural diagram of a housing in an embodiment of an optical fiber gyroscope according to the invention;

FIG. 5 is a schematic circuit diagram of a transceiver in an embodiment of an optical fiber gyroscope of the present invention;

fig. 6 is a schematic circuit diagram of a GPS module in an embodiment of an optical fiber gyroscope according to the present invention.

Icon: 1. a housing; 11. a cover body; 111. an installation port; 112. thickening part; 113. a screw hole; 12. a bottom cover; 121. a first fixing hole; 122. an inlet extension port; 123. a second fixing hole; 2. a light source; 3. a first coupler; 4. a fiber optic gyroscope; 41. a second coupler; 42. a Y waveguide; 43. an optical fiber loop; 44. a photodetector; 45. a signal processing circuit; 451. an A/D circuit; 452. a logic circuit; 453. D/A circuit.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are usually placed in when used, the orientations or positional relationships are only used for convenience of describing the present invention and simplifying the description, but the terms do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operate, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Examples

Referring to fig. 1-2, an embodiment of the invention provides a fiber optic gyroscope 4, including: the device comprises a shell 1, a light source 2, a first coupler 3 and three groups of fiber-optic gyros 4, wherein the light source 2, the first coupler 3 and the three groups of fiber-optic gyros are arranged in the shell 1.

The light emitted by the light source 2 is divided into three beams of light by the first coupler 3 and then enters the three groups of fiber optic gyroscopes 4. The sampling integrated design technology in the optical fiber inertial navigation is that one light source 2 drives three optical fiber gyroscopes 4, so that the problems of stability and parameter consistency of the light source 2 are effectively solved, and the cross interference resisting technology of a three-axis multiplexing optical path is overcome. The method comprises key technologies such as a miniaturization integration technology and rapid start of the fiber optic gyroscope 4. Thereby saving costs. The volume is reduced. The start-up time of the system is shortened. The reliability of the system is improved, and the system has the capability of resisting vibration and impact.

Specifically, each group of the fiber optic gyroscopes 4 includes a second coupler 41, a Y waveguide 42, a fiber optic ring 43, a photodetector 44 and a signal processing circuit 45, which are connected in sequence; the second coupler 41 in each set of fiber-optic gyroscope 4 splits a beam of light transmitted from the first coupler 3 into two, wherein one beam of light enters the Y waveguide 42, two beams of linearly polarized light satisfying coherence conditions and having high polarization degree are output after being adjusted inside the Y waveguide 42, the two beams of linearly polarized light are propagated in the fiber-optic ring 43 in opposite directions, and simultaneously sense the external angular rate, the photodetector 44 detects the light intensity change of the interference signal, converts the light signal into an electric signal, and inputs the electric signal into the signal processing circuit 45 to process the electric signal to generate a modulation voltage signal to adjust the Y waveguide 42, so that the Y waveguide 42 generates a feedback phase shift with the same magnitude and the opposite direction as the external Sagnac phase shift, thereby forming a digital closed-loop working mode, and enabling the fiber-optic gyroscope 4 to work near the zero phase all the time.

The optical fiber gyro 4 compass adopts a strapdown inertial navigation technology, the basic working principle is based on the Newton's law of mechanics, the acceleration of a carrier in an inertial reference system is measured, the officer integrates the time, and then the integration is converted into a navigation coordinate system. And obtaining speed, yaw angle, position information and the like in the navigation coordinate system. Practical systems usually use inertial navigation systems as the main navigation system. And other navigation systems such as astronomical navigation, GPS and the like are taken as auxiliary navigation systems. Kalman filtering techniques are applied. And taking the auxiliary information as an observed quantity. And the state variable of the combined system is subjected to the navigation signal with high precision according to the credit theory.

Referring to fig. 3-4, in some embodiments of the present invention, the housing 1 includes a cover 11 and a bottom cover 12, the cover 11 and the bottom cover 12 are detachably connected, referring to fig. 3, in this embodiment, the cover 11 and the bottom cover 12 are connected by a fastening member, first fixing holes 121 are symmetrically disposed on left and right sides of the bottom cover 12, the fixing holes penetrate through the bottom cover 12 from top to bottom, and the fixing holes are located outside the cover 11. When the fixing device is used for fixing the shell 1, the cover body 11 and the bottom cover 12 are fixed through a fastener, and then the shell 1 is fixed at a desired position through a fixing hole according to actual needs.

In some embodiments of the present invention, the bottom cover 12 is provided with the inlet 122 symmetrically at left and right sides of the bottom surface. This is for the purpose of facilitating the detachment of the housing 1, and the insertion opening 122 provides a user with a force point when detaching the housing 1, even if the user's both hands can be inserted into the insertion openings 122 on the left and right sides of the lower bottom surface of the bottom cover 12, respectively. In addition, the carrying is convenient for users.

Further, a mounting opening 111 for mounting a connector is formed in a side wall of the cover 11.

Referring to fig. 4, in some embodiments of the present invention, the lower portion of the cover 11 is provided with an outward-inclined thickened portion 112, the thickened portion 112 is provided with a screw hole 113 for fixing the bottom cover 12, a plurality of screw holes 113 are provided on a lower bottom surface of the thickened portion 112, the bottom cover 12 is provided with a plurality of second fixing holes 123, and the screw holes 113 correspond to the second fixing holes 123 one by one. This is provided for the purpose of reinforcing the bottom cover 12.

Illustratively, the signal processing circuit 45 includes an a/D circuit 451, a logic circuit 452, and a D/a circuit 453, where the a/D circuit 451 receives an electrical signal of the photodetector 44, converts the electrical signal into a digital signal, and sends the digital signal to the logic circuit 452 for processing, and the D/a circuit 453 outputs a modulation voltage signal.

Further, the system also comprises a transceiver and a GPS module which are connected with each other.

Referring to fig. 5, in some embodiments of the invention, the transceiver includes an ADM2587 chip, where 0.01uF, 10uF, and 2 0.1uF capacitors are connected between the input terminals of two VCC pins and the GND1 pin, 0.1uF capacitor and 0.01uF capacitor between the Visoin pin and the GND2 pin, 0.1uF capacitor and 0uF capacitor 1 between the visuout pin and the GND2 pin, the RXD pin is used to transmit a signal to the GPS module, the visuot pin is connected to the visuot pin, the a pin is connected to the Y pin as a half-duplex a signal line, the B pin is connected to the Z pin as a half-duplex B signal line, the visuoin pin is connected to the a pin through a resistor R2, the regulator U20 is connected to the pin 2 pin, the two pins of the GND U20 are connected to the a pin and the B pin, the a pin and the B pin are connected to the connector through fuses, and the resistor R38 is connected to the GND2 pin. A. B, Y, Z pins are provided with ESD protection of +/-15 KV and common mode rejection capability of 25KV/us, most protection functions can be provided for chip pins, and in a severe application environment, devices such as TVS (transient voltage suppressor) tubes and the like can be added on a bus to enhance the protection capability of the chip on large surge current and voltage.

Referring to fig. 6, in some embodiments of the present invention, the GPS module employs a GR-87 chip, the VCC pin of the GR-87 chip is grounded through a capacitor C92, the VCC pin is also connected to pin No. 1 of the connector, the No. 1 pin of the connector is connected with the D pole of the field effect transistor Q1, the electron R32 is connected between the S pole and the G pole of the field effect transistor Q1, the G electrode of the field effect transistor Q1 is connected with the collector electrode of a triode Q2, the emitter of the triode Q2 is connected with the base level after passing through a resistor R34 and a resistor R33, the common end of the resistor R34 and the resistor R33 is connected with the No. 2 input end of an AND gate U24A, the TX _ A pin is connected with the No. 1 input end of the AND gate U24A, the RXD pin of an ADM2587 chip is connected with the No. 4 input end of the AND gate U24B, the output ends of the AND gate U24A and the AND gate U24B are respectively connected to the input end of the OR gate U25A, and the output end of the OR gate U25A is connected to the RX _ A pin of the GR-87 chip. The GPS satellite positioning system has the capability of quickly positioning and tracking 20 satellites, has GPS wireless connection, reserves an external interface, is provided with the American GPS, the Chinese Beidou positioning and the Russian GLONASS, and is called as a three-mode satellite positioning system, stable in signal and internal rotation conversion system.

Illustratively, the model of the and gate U24A, the model of the and gate U24B are 74HC08, or the model of the gate U25A is 74HC 32.

In summary, an embodiment of the present invention provides a fiber optic gyroscope 4, including: the device comprises a shell 1, a light source 2, a first coupler 3 and three groups of fiber optic gyroscopes 4, wherein the light source 2, the first coupler 3 and the three groups of fiber optic gyroscopes are arranged in the shell 1; the three groups of fiber optic gyroscopes 4 are identical in structure and each includes a second coupler 41, a Y waveguide 42, a fiber optic ring 43, a photodetector 44 and a signal processing circuit 45. The light emitted by the light source 2 is divided into three beams of light after passing through the first coupler 3 and then enters the three groups of fiber optic gyroscopes 4 respectively; the sampling integrated design technology in the optical fiber inertial navigation is that one light source 2 drives three optical fiber gyroscopes 4, so that the problems of stability and parameter consistency of the light source 2 are effectively solved, and the cross interference resisting technology of a three-axis multiplexing optical path is overcome. The method comprises key technologies such as a miniaturization integration technology and rapid start of the fiber optic gyroscope 4. Thereby saving costs. The volume is reduced. The start-up time of the system is shortened. The reliability of the system is improved, and the system has the capability of resisting vibration and impact.

Specifically, the second coupler 41 in each set of fiber-optic gyroscope 4 splits a beam of light transmitted from the first coupler 3 into two, wherein the beam of light enters the Y waveguide 42, two beams of linearly polarized light satisfying coherence conditions and having high polarization degree are output after being internally adjusted by the Y waveguide 42, the two beams of linearly polarized light are propagated in the fiber ring 43 in opposite directions, and simultaneously sense an external angular rate, the photodetector 44 detects a light intensity change of an interference signal, converts the light signal into an electrical signal, and inputs the electrical signal to the signal processing circuit 45 to process the signal to generate a modulation voltage signal to adjust the Y waveguide 42, so that the Y waveguide 42 generates a feedback phase shift having the same magnitude as and the opposite direction of an external Sagnac phase shift. The optical fiber gyro 4 compass adopts a strapdown inertial navigation technology, the basic working principle is based on the Newton's law of mechanics, the acceleration of a carrier in an inertial reference system is measured, the officer integrates the time, and then the integration is converted into a navigation coordinate system. And obtaining speed, yaw angle, position information and the like in the navigation coordinate system. Practical systems usually use inertial navigation systems as the main navigation system. And other navigation systems such as astronomical navigation, GPS and the like are taken as auxiliary navigation systems. Kalman filtering techniques are applied. And taking the auxiliary information as an observed quantity. And the state variable of the combined system is subjected to the navigation signal with high precision according to the credit theory.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.