RELATED APPLICATION

This application claims the benefit of U.S. Provisional Application No. 63/260,151, filed on Aug. 11, 2021. The entire teachings of the above application are incorporated herein by reference.

BACKGROUND

Residual intensity noise (RIN) can provide errors in interferometric sensors by skewing phase, frequency or amplitude measurements of the sensor. Conventionally, in-situ measurements of RIN can change due to phase changes, frequency dependent changes and amplitude changes making RIN measurements during operation difficult. Typically, additional components (e.g., optical circuits, detectors, electronics, and system are required to be added into the sensor to determine the magnitude of RIN and provide means of RIN compensation. Add-on RIN subtraction systems suffer from delay, complexity, additional costs and overall size increases in the sensor package.

SUMMARY

The described embodiments concern Fiber Optic Gyroscopes (FOGs), and techniques for measuring Residual Intensity Noise (RIN) within the FOG system. Described embodiments may employ single frequency modulation and dual frequency modulation measurement techniques that require no additional hardware to accomplish the measurement of RIN in-situ.

The described embodiments may be directed to photonic FOG operating “on eigenfrequency,” which means operating the modulation scheme of the FOG such that the modulations frequencies are related to the transit time of light in the associated Sagnac coil. The FOG system eigenfrequency will be a frequency that depends on the coil length, so different FOGs have different eigenfrequencies. A unique attribute of operating a FOG system (or any interferometric-based sensor) on eigenfrequencies is that noise in the system cancels, thereby minimizing RIN within the FOG system. Minimizing RIN is desirable since RIN may contribute errors in both bias and scale factors. Since operating on eigenfrequency minimizes RIN, it is a goal of the FOG system to consistently operate on eigenfrequency.

One consequence of implementing the FOG system on a photonic integrated circuit (PIC) is “intensity noise,” which can originate from the FOG light source or be produced as a by-product of modulation implemented on the PIC.

While the initial FOG system eigenfrequency may be determined when the FOG is first fabricated/assembled, certain factors (e.g., temperature, vibration, aging) may operate to change the system eigenfrequency. The described embodiments may be directed to a control loop that determines the actual FOG system eigenfrequency, and adjusts the modulation frequency of the FOG system to cause the FOG system to operate on eigenfrequency.

The embodiments described herein may be used for other sensors in addition to FOGs. For example, the embodiments may be used for current sensors, vibration sensors, etc., that use optic fiber as an intrinsic sensor.

In one aspect, the invention may be a method of determining residual intensity noise (RIN) of a sensor, comprising determining a first amplitude of a first harmonic of the sensor while a signal propagating through the sensor is modulated at a modulating frequency corresponding to twice an eigenfrequency of the sensor. The method may further comprise determining a second amplitude of a second harmonic of the sensor while the signal propagating through the sensor is modulated the modulating frequency, and determining the RIN of the sensor as a ratio of the first amplitude and the second amplitude.

In another aspect, the invention may be a method of determining residual intensity noise (RIN) of an interferometer system, comprising propagating a light signal from a light source through the interferometer system, modulating the light signal at a modulating frequency that is twice an eigenfrequency of the interferometer system, determining a first harmonic amplitude and a second harmonic amplitude produced by the interferometer system, and determining the RIN of the interferometer system as a ratio of the first harmonic amplitude and the second harmonic amplitude.

In another aspect, the invention may be a method of determining residual intensity noise (RIN) of an interferometer system, comprising propagating a light signal from a light source through the interferometer system. During a first interval, the method may comprise modulating the light signal at a first modulating frequency that is an eigenfrequency of the interferometer system, and determining a primary measurement associated with the interferometer system. During a second interval, the method may comprise (i) modulating the light signal at a first modulating frequency that is twice the eigenfrequency of the interferometer system, (ii) determining, using an optical detector, a first harmonic amplitude and a second harmonic amplitude produced by the interferometer system, and (iii) determining the RIN of the interferometer system as a ratio of the first harmonic amplitude and the second harmonic amplitude.

In another aspect, the invention may be a method of tracking an eigenfrequency of an interferometer system, comprising determining residual intensity noise (RIN) of a sensor by determining a first amplitude of a first harmonic of the sensor while a signal propagating through the sensor is modulated at a modulating frequency corresponding to twice a predetermined eigenfrequency of the sensor. The method may further comprise determining a second amplitude of a second harmonic of the sensor while the signal propagating through the sensor is modulated the modulating frequency, and determining the RIN of the sensor as a ratio of the first amplitude and the second amplitude. The method may further comprise repeating the step of determining RIN of the sensor using a modulating frequency selected from a range of frequencies that is centered about the predetermined eigenfrequency, determining a modulating frequency from the range of frequencies that produces a minimal determined RIN, and designating modulating frequency corresponding to the minimal determined RIN as an updated eigenfrequency of the system.

BRIEF DESCRIPTION OF THE DRAWINGS

The patent or application file contains at least one drawing executed in color. Copies of this patent or patent application publication with color drawings will be provided by the Office upon request and payment of the necessary fee.

The foregoing will be apparent from the following more particular description of example embodiments, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating embodiments.

FIGS. 1A and 1B illustrate RIN response with respect to set voltage (i.e., drive voltage) for a number of modulation frequencies.

FIG. 2 illustrates the RIN component response across a frequency range that includes the example FOG system's eigenfrequency.

FIGS. 3A and 3B show harmonic magnitudes across a range of modulating frequencies from 350 KHz to 600 KHz, with FIG. 3A showing harmonic magnitudes calculated using equations, and FIG. 3B showing harmonic magnitudes as measured in an example FOG system.

FIG. 4A shows a diagram that demonstrates a modulation burst method according to one embodiment of the invention.

FIG. 4B shows a flow diagram consistent with the described embodiments.

FIG. 5 illustrates an example embodiment of a single-axis 2×2 optical FOG circuit.

FIG. 6 shows a high-level diagram of an example embodiment of a power balanced, 3-axis photonic FOG system.

FIG. 7 shows an example FOG system in a stationary condition (no rotation), with zero RIN.

FIG. 8 shows the example FOG system in its stationary condition (no rotation), with a non-zero RIN.

FIGS. 9 and 10 show magnitudes of harmonics of a FOG system under rotation, with non-zero RIN.

FIGS. 11, 12, and 13 illustrate three example embodiments of photonic integrated circuit (PIC) fiber optic gyroscope (FOG) implementations.

DETAILED DESCRIPTION

A description of example embodiments follows.

The teachings of all patents, published applications and references cited herein are incorporated by reference in their entirety.

The example embodiments described herein are directed to a photonic FOG system operating “on eigenfrequency” or “on-eigen,” which means operating the modulation scheme of the FOG system such that the modulation frequencies match the transit time of the associated Sagnac fiber coil. The eigenfrequency of a FOG system depends, for example, on the Sagnac fiber coil length, so different FOGs may have different eigenfrequencies.

A unique attribute of operating a FOG (or any interferometric-based sensor) “on eigenfrequency” is that system noise cancels, and specifically RIN from the source cancels. When operating on eigenfrequency, there is little to no intensity noise. Intensity noise causes errors in both bias and scale factors, so RIN can introduce errors in the system at modulation frequencies that are not eigenfrequencies. In-situ RIN measurement via single or dual frequency modulation allows for real time compensation of RIN. This allows for compensation of modulator inefficiencies while operating, which may otherwise require higher drive voltages and a corresponding higher RIN component. Increased drive voltages due to environmental or age based effects cause increased RIN, which can in turn cause system performance issues and accuracy degradation when subjected to off eigen operation. FIGS. 1A and 1B illustrate RIN response with respect to set voltage (i.e., drive voltage) for a number of modulation frequencies. FIG. 1A shows the Residual Amplitude Modulation (RAM) ratio on the vertical axis, while FIG. 1B shows the RIN in dB on the vertical axis. RIN at eigenfrequency (477 kHz in this example FOG system) shows large value due to indeterminate 0/0 division. It can be shown that RIN does not affect the on-eigen operation of the interferometer.

On eigen and double eigen measurement of RIN allows for the compensation of the scale factor error that may be present due to increased RIN contributions at off-eigen frequency conditions. (e.g., slow control loop response, high speed environmental changes or unforeseen errors resulting in off eigen operation and excess RIN). In-situ RIN measurements allow for eigenfrequency compensation in real time when the system is forced off its eigenfrequency, which can occur due to physical changes in the sensor, more specifically the Sagnac sensing coil. Such changes may be due to, for example, temperature, vibration, and aging. FIG. 2 illustrates the RIN component response across a frequency range that includes the example FOG system's eigenfrequency (477 kHz).

When a phase modulator is inserted and operated in an interferometer system (e.g., a Sagnac interferometer), the two counterpropagating, interfering waves will have amplitude modulation introduced due to the phase modulation. The two interfering waves have the equations of the form:

E_cw=a(1+Δ sin [Image Omitted] t)e^iϕ+iψ⁰^{sin ωt}

E_ccw=a(1+Δ sin ω(t−T))e^−iϕ+iψ⁰^{sin ω(t-T)}

Such a set of fields produces harmonics at the detector as:

I
1

=

-

A
[

(

1
+

Δ
2

2

⁢
cos
⁢

(

ω
⁢
T

)

)

⁢

J
1

(

2
⁢
ψ

)

+

Δ
2

4

⁢

(

J

-
1

(

2
⁢
ψ

)

+

J
3

(

2
⁢
ψ

)

)

]

⁢
sin
⁢

(

2
⁢
ϕ

)

⁢

Q
1

=

A
⁢
Δ
⁢
cos
⁢

(

ω
⁢
T

2

)

[

1
+

(

J
0

(

2
⁢
ψ

)

+

J
2

(

2
⁢
ψ

)

)

⁢
cos
⁢

(

2
⁢
ϕ

)

]

⁢

I
2

=

-
A

⁢

Δ
2

4

⁢
cos
⁢

(

ω
⁢
T

)

-

A
[

(

1
+

Δ
2

2

⁢
cos
⁢

(

ω
⁢
T

)

)

⁢

J
2

(

2
⁢
ψ

)

+

Δ
2

4

⁢

(

J
0

(

2
⁢
ψ

)

+

J
4

(

2
⁢
ψ

)

)

]

⁢
cos
⁢

(

2
⁢
ϕ

)

⁢

Q
2

=

-
A

⁢
Δco
⁢

s
⁡
(

ω
⁢
T

2

)

[

J
1

(

2
⁢
ψ

)

+

J
3

(

2
⁢
ψ

)

]

⁢

sin
⁡
(

2
⁢
ϕ

)

⁢

I
3

=

A
[

(

1
+

Δ
2

2

⁢
cos
⁢

(

ω
⁢
T

)

)

⁢

J
3

(

2
⁢
ψ

)

+

Δ
2

4

⁢

(

J
1

(

2
⁢
ψ

)

+

J
5

(

2
⁢
ψ

)

)

]

⁢
sin
⁢

(

2
⁢
ϕ

)

⁢

Q
3

=

-
A

⁢
Δ
⁢
cos
⁢

(

ω
⁢
T

2

)

[

J
2

(

2
⁢
ψ

)

+

J
4

(

2
⁢
ψ

)

]

⁢

cos
⁡
(

2
⁢
ϕ

)

⁢

I
4

=

A
[

(

1
+

Δ
2

2

⁢
cos
⁢

(

ω
⁢
T

)

)

⁢

J
4

(

2
⁢
ψ

)

+

Δ
2

4

⁢

(

J
2

(

2
⁢
ψ

)

+

J
6

(

2
⁢
ψ

)

)

]

⁢

cos
⁡
(

2
⁢
ϕ

)

⁢

Q
4

=

A
⁢
Δ
⁢
cos
⁢

(

ω
⁢
T

2

)

[

J
3

(

2
⁢
ψ

)

+

J
5

(

2
⁢
ψ

)

]

⁢
sin
⁢

(

2
⁢
ϕ

)

where I_nand Q_n, are n^thharmonic of in-phase and quadrature components, respectively, Δ is Residual Amplitude Modulation (RAM), A is a constant that depends on detector responsivity and power, and ϕ is phase difference between the counter-propagating fields. Utilizing the dual frequency bursting method, the measurement of RIN becomes independent. FIGS. 3A and 3B show harmonic magnitudes from 350 KHz to 600 KHz, with FIG. 3A showing harmonic magnitudes calculated with the I_nand Q_nequations above, and FIG. 3B showing harmonic magnitudes as measured in the example FOG system.

RAM can be measured several ways using the harmonic equations above, and multiple combinations of the harmonic frequency components can be utilized in the determination of RIN.

For a dual modulation embodiment of the invention, a RIN measurement technique may measure, during a first interval of time, a ratio of two of the system's harmonics at a modulation frequency that is the system eigenfrequency. An example of such a ratio may be

- F1(f_eig)/F2(f_eig),

where F1 is a first system harmonic, F2 is a second system harmonic, and f_eigis the system eigenfrequency. The RIN measurement technique may subsequently measure, during a second interval of time, a ratio of two of the system's harmonics at a modulation frequency that is twice the system eigenfrequency. An example of such a ratio may be

- F1(2f_eig)/F2(2f_eig).

The harmonics F1 and F2 may be any two harmonics of the system. Measuring the ratio F1(f_eig)/F2(f_eig) provides a measure of RIN that is independent of optical power. Measuring the ratio F1(2f_eig)/F2(2f_eig), i.e., the harmonics F1 and F2 at twice the eigenfrequency, provides a measure of RIN that is independent of relative phase, optical power, and drive amplitude.

Modulation timing at f_eigand 2f_eigcan be sequential, random, pseudo random or any combination of sequences in a single axis FOG unit. The timing of the modulation sequence can be altered, but adjacent measurements of harmonic 1 and harmonic 2 should be utilized for the calculation of RIN.

Calculation of RIN utilizing dual frequency modulation can be obtained by the equations:

F

first
⁢
_
⁢
hrm

(

2
⁢

f

e
⁢
i
⁢
g

)

=

A
⁢

Δ
[

1
+

cos
⁢

(

2
⁢
ϕ

)

]

⁢

F

second
⁢
_
⁢
hrm

(

2
⁢

f

e
⁢
i
⁢
g

)

=

A
⁢

Δ
2

4

[

1
+

cos
⁢

(

2
⁢
ϕ

)

]

Where, F_{first_hrm}is the magnitude of the first harmonic at twice the system eigenfrequency, F_{second_hrm}is the magnitude of second harmonic at twice the system eigenfrequency, Δ is Residual Amplitude Modulation (RAM), A is a constant that depends on detector responsivity and power, and ϕ is phase difference between the counter-propagating fields. The ratio of F_{second_hrm}to F_{first_hrm}, which is a direct measure of RIN, is independent of power, detector response, operating voltage and phase.

FIG. 4A shows a diagram that demonstrates a modulation burst method according to one embodiment of the invention. During the first interval 402 and the third interval 404 shown, the system modulation is at the system eigenfrequency (f_eig), and the FOG system measures the rotation rate of the fiber optic coil. During the second interval 406 shown, the system is modulated at twice the system eigenfrequency (i.e., 2 f_eig). It is during this second interval 406 that the RIN value is measured using the harmonic ratio, as described herein. The eigenfrequency of a fiber-optic gyroscope (FOG) based system may be determined according to 1/(2τ), where τ represents the transit time of the FOG's Sagnac coil.

FIG. 4B shows a flow diagram consistent with the described embodiments. Initially, a modulation controller may set 412 the modulation frequency at the system eigenfrequency. Demodulation and a rate calculation occurs 414, thereby providing a rate output 416 (e.g., rotation rate of the fiber coil). The modulation controller may set 418 the modulation frequency at twice the system eigenfrequency, and the RIN is determined 420 as described herein. The RIN calculation may be used to adjust 422 the modulation frequency to be consistent with the actual determined system eigenfrequency.

FIG. 5 illustrates an example embodiment of a single-axis 2×2 optical FOG circuit, comprising a super luminescent diode (SLD) 502, a first 2×2 (i.e., two inputs, two outputs) optical coupler 504, a polarizer 506, a second optical coupler 508, a fiber coil 510, a PZT optical modulator 512, and a photodetector 514. The “2×2” designation for the “2×2 optical FOG circuit” refers to the fact that the optical circuit shown in FIG. 5 has two ports at one end (corresponding to the SLD 502 and the detector 514), and two ports at the other end (corresponding to the two ports of the fiber coil 510).

FIG. 6 shows a high-level diagram of an example embodiment of a power balanced, 3-axis photonic FOG system. The FOG system may comprise a number of subsystems, for example a light source 602, a 1×3 coupler 604, followed by the conventional 2×2 FOG optical circuits 606 that was described with respect to FIG. 5.

In some embodiments, the subsystems depicted in FIG. 6 may all be implemented on a single photonic integrated circuit (PIC). In other embodiments, one or more of the individual subsystems may be implemented on separate PIC devices, with the separate PIC devices connected with optical fiber or other optical waveguides. In some embodiments, components that are likely to dissipate heat during operation (e.g., the SLD 602 and the PZT modulators) may be arranged separate from passive components (e.g., 1×3 coupler 604 and 2×2 FOG optical circuits 606), so that one or more of the active (heat-dissipating) components is disposed on a first PIC, and one or more of the passive devices is disposed on a second PIC. An example PIC FOG may incorporate the conventional 3-axis inertial measurement unit (IMU) or inertial navigation system (INS) into one PIC chip, either with an onboard 1×3 coupler to utilize a single source, or an external source and 1×3 coupler.

FIG. 7 shows an example FOG system in a stationary condition (i.e., with no rotation of the fiber optic sensing coil, and therefore no Sagnac phase shift) and with a zero RIN. FIG. 8 shows the example FOG system in its stationary condition but with a non-zero RIN. While the FOG system is in its stationary condition, a “zero RIN” measurement can be made by monitoring the magnitude response at the eigenfrequencies. As shown in FIG. 7, a notch 702 occurs for the second and fourth harmonics at twice the system eigenfrequency, i.e., at 954 KHz. FIG. 8 shows that in a non-zero RIN condition, the first and third harmonics exhibit notches at the eigenfrequency (477 KHz), while the second, third and fourth harmonics exhibit notches at twice the eigenfrequency (954 KHz).

Some embodiments may employ a RIN measurement technique for eigenfrequency maintenance that uses only a single harmonic frequency. Under rotation of the Sagnac fiber optic coil, the measurement of the magnitudes of the first harmonic F1 at modulation frequencies of f_eigand 2f_ei_gcan be utilized to determine appropriate on eigen operation. Maximizing the delta of the magnitude of the first harmonic F1 at the eigenfrequency f_eigand the magnitude of the first harmonic F1 at twice the eigenfrequency 2f_eig. The on eigenfrequency condition maximizes the differential value of:

RIN=F1(f_eig)−F1(2f_eig)

When the system drifts away from the “on eigenfrequency” condition, the value of the above RIN differential decreases, and an associated control loop operates to maximize the differential and restore “on eigenfrequency” operation. The control loop thus operates to maintain eigenfrequency operation.

FIGS. 9 and 10 show magnitudes of harmonics of a FOG system under rotation (400 degrees per second) with non-zero RIN. FIG. 9 depicts measured harmonic magnitudes, while FIG. 10 depicts calculated harmonic magnitude using the equations described herein.

FIGS. 11, 12, and 13 illustrate three example embodiments of photonic integrated circuit (PIC) fiber optic gyroscope (FOG) implementations that may be used to realize the described embodiments. FIGS. 11, 12, and 13 include architectures similar to those described with respect to FIGS. 5 and 6.

The measurement techniques presented in the example embodiments described herein are valid with external modulators (e.g., lead zirconate titanate (PZT)), as well as PIC-based integrated modulators. FIGS. 11, 12, and 13 illustrate example use cases for potential FOG designs. FIG. 11 shows a PIC implementation of a FOG with a single integrated modulator 1102. FIG. 12 shows a PIC implementation of a FOG with dual integrated modulators 1202, 1204. FIG. 13 shows a PIC implementation with a modulator 1302 that is external to the PIC 1304.

While example embodiments have been particularly shown and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the embodiments encompassed by the appended claims.