KVH Understanding Specs FOGs 0312
KVH Understanding Specs FOGs 0312
1960
Invention of laser leads to first practical use of Sagnac Effect Ring laser gyroscope (RLG)
1976
Interferometer fiber optic gyroscope first proposed by Vali & Shorthill Fiber Ring Interferometer Appl. Optics, 15
1980-2000
FOG performance refined through advances in theory & design at universities and by industry
PZT modulation
Even harmonics used to maintain laser and phase modulator operating points
4
RED: KVH-manufactured polarization-maintaining, elliptical core, single mode optical fiber GREEN: Printed circuit boards
KVH Industries, Inc.
Performance Specification
Maximum Input Rate Bias Offset (25 C) Bias Stability (stable temp) Bias Stability (full temp) Angle Random Walk (ARW) Scale Factor (full temp) Scale Factor Non-Linearity
DSP-3000
375 deg/sec 20 deg/hr 1 deg/hr, 1s 6 deg/hr, 1s 4 deg/hr/Hz 500 ppm, 1s 1000 ppm, 1s
DSP-1750
1000 deg/sec 10, 2* deg/hr 0.05 deg/hr, 1s 3 deg/hr, 1s 0.8 deg/hr/Hz 300 ppm, 1s 1000 ppm, 1s
* with magnetic shielding
10
ppm
p_p 517.3
ppm
SF Error (ppm)
1500
Bias (Deg/Hr )
1500
0.1
0.01 0.01
5000
0.1 1 10 100 1000
40
20
20 Ji 8 Temp (deg C)
40
60
80
Time (Minutes)
1 Hz Output -1/2 slope
stdev ( N) 1. 77
100 80
deg/ hr
p_p 14. 52
deg/ hr
60
150
20
Bias (deg/hr)
100 50 0 -50 -100 -150 -200 -500 -400 -300 -200 -100 0 100 200 300 400 500
11
12
Thank you
Agenda
FOG Applications FOG Output Signal FOG Specifications and Allan Variance Analysis Example FOG Specification Summary
FOG Applications
Rotation Measurement
Why use gyros?
Gyros sense rotation in an inertial reference frame Highly accurate gyros will sense the Earths rotation Unlike GPS, inertial sensor (gyros) are not subject to jamming
Types of gyros
Rate gyros Rate integrating gyros
Gyro Grades
Gyro grades are defined by bias stability specifications Industrial/Automotive: 30 100 /hr Tactical: 1 10 /hr Inertial Navigation: 0.001-0.01 /hr Strategic: < 0.0001 /hr
Gyro Grades
Courtesy of
Gyro Applications
Land Navigation
Integrated land navigation High performance FOG and accelerometers with aiding sensors
Gyro Applications
Navigation
Tightly coupled INS/GPS Mobile mapping Airborne augmented reality 6-DOF IMU (3 FOGs) with GPS
Gyro Applications
Stabilization
Gun platform stabilization Low FOG ARW and high bandwidth improve stability
Gyro Applications
Stabilization
Airborne/land camera gimbals Low FOG ARW reduces image jitter effects
Gyro Applications
Pointing
Cameras, lasers, antennas FOG scale factor linearity key performance specification
Bias offset
Fixed offset from zero, specified in deg/sec
Earth rate
Earth rotation in deg/sec sensed by gyro and dependant on Latitude Input axis orientation (east/west, north/south, up/down)
Noise
Present in all gyros Both high (ARW) and low (bias instability) frequency components
0.04
0.03
0.02
0.01
-0.01
-0.02
-0.03
Gyro output with Earth rate, bias offset, and noise components
KVH Industries, Inc.
Earth rotation contributes to the output of the gyro - this effect is dependent on: Orientation of the gyro input axis relative to the earths axis of rotation Latitude Earth rate = -15.04 sin(latitude)
FOG input axis
East/West = 0 /hr
at Equator = 0 /hr
FOG Specifications
Basis for FOG specification is IEEE std 952:
IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Interferometric Fiber Optic Gyros
Allan Variance (IEEE std 952) analysis is a fundamental method of deriving performance specifications for all major gyro types (FOG, RLG, and MEMS) FOG packaging specifications
Shock & Vibration Thermal Power Data
Narrow ARW bandwidth limits attitude control systems Integrated angle error increases over time (~1/hour) for navigation systems
Bias instability
Lower frequency 1/f flicker noise
Variance: Deviation log slope: 0 Zero slope minimum on Allan deviation curve
Rate ramp
Long correlation time deterministic process not prevalent in FOGs - Sometimes associated with environmental changes
DSP-1750 FOG
The DSP-1750 is a small high performance tactical grade FOG
Dual-axis Unshielded
Dimensions: Sensor: 1.7 dia. x 0.82 PCB stack: 2.85 dia. x 0.55
DSP-1750 8 hour Allan Variance test at 25C ARW = 0.009 deg/ hour Bias Instability = 0.02 deg/hour
KVH Industries, Inc.
Fixed bias associated with all calibrated gyros (RLGs, FOGs, MEMS) FOGs bias offset due to 0.3 to 0.6 gauss Earths magnetic field (Faraday Effect) Magnetic shielded version of DSP-1750 recommended if high magnetic fields are near the FOG
Bandwidth: 440 Hz
Output bandwidth is the 3dB roll-off of the output signal Acutronic Lab verified DSP-1750 -3dB bandwidth was 475 Hz
Reliability: Single axis: > 36,000 hours dual axis: > 22,000 hours
Specified in hours MTBF
Electromagnetic Compatibility:
Comprehensive conducted emissions and susceptibility testing per MIL-STD-461F performed.
KVH Industries, Inc.
Weight
Sensor: 45 g unshielded, 65 g shielded PCB stack : 45 g
Environmental
Operating temperature: -40C to +75C Shock (functional): 25 g, 11 msec (sawtooth) Shock (gunfire): 55 g, 1 msec (1/2 sine) Shock (endurance): 40 g, 11 msec (sawtooth) Vibration, Random (operational): 8 g rms 20-20,000 Hz Vibration, Random (endurance): 12 g rms 20-20,000 Hz Altitude (operational): -1,000 to +40,000 ft Humidity (operational): 95% at 35C , 48 hours
Summary