| 摘要 |
The invention is a method and apparatus for processing signals with frequencies fL and fR from a multioscillator ring laser gyro, the method being repeated at regular time intervals. The difference fDELTAtheta, of fL and fR is a measure of the angular rotation rate of the ring laser gyro and the sum fF of fL and fR divided by 2 is the Faraday bias frequency. The first step of the method comprises determining two or more of the values MLP, MRP, MFP, and MDELTAthetaP of a set of functions ML(fL), MR(fR), MF(fF), and MDELTAtheta(fDELTAtheta). The second step comprises storing two or more processed values MLS, MRS, MFS, and MDELTAthetaS of the functions ML(fL), MR(fR), MF(fF), and MDELTAtheta(fDELTAtheta) if the corresponding values of MLP, MRP, MFP, and MDELTAthetaP are valid. A processed value is derived from the value for the present time interval and zero or more processed values for prior time intervals. The third step comprises determining fDELTAthetaP or a function thereof from zero or more valid function values obtained as a result of executing the first step during the current time interval, zero or more processed values obtained as a result of executing the second step during a prior time interval, and zero or more extrapolated values obtained by extrapolating the processed values obtained as a result of executing the second step during a prior time interval to the present time interval.
|
