Top: fringe contrast during geometry control of GP2, a few features suggesting mode jumps are shown. How do I check the Warranty Coverage for my parts? Comparison of the histograms of the Sagnac frequency estimated with the standard method (blue) and by the new one (red). PubMedGoogle Scholar. Such devices could potentially be lightweight and rugged, while featuring some of the sensitivity advantages of Sagnac-based sensing devices. INS are guiding systems for ships, spacecraft, aircraft and missiles that help maintain an accurate position in situations and environments where GPS technology cannot be used. Orientation changes rapidly when external torque is applied, however when the gyro is mounted in a gimbal, torque is minimized and the spin axis defined by the axle is thus stabilized. In correspondence of the jumps there is a rapid change in phase. \(\omega _s\) can be found with Eq. Power Boeing aircraft with dedicated products and solutions ranging from APUs to flight controls. ADS Improvements of a factor 10100 would make these instruments able to measure general relativity effects; this is the goal e.g. Phys. Di Virgilio, Controlling the nonlinear inter cavity dynamics of large he-ne laser gyroscopes. These results not only allow to improve the performance of large scale ring laser gyroscopes but also pave the way to the development of small scale instruments with nrad/s sensitivity, which are precious for environmental studies and as inertial platforms. Honeywell Oil, Gas and Mining Solutions and Systems. Wells, Measuring gravitomagnetic effects by a multi-ring-laser gyroscope. See here how our solutions help you maximize operational safety and efficiency. Mechanical gyroscopes consist of a disc, or spinning wheel, with an axle that assumes any orientation. It is interesting to observe that the average value of the frequency \(\omega _{s0}\) is higher, this is what we expect when the noise is dominated by backscatter. For instance, in June 1914 Lawrence Sperry (Elmer Sperrys son) ran a demonstration flight where he stood up in the cockpit, allowing a gyroscopic autopilot to stabilize the plane for a moment. As mentioned at the beginning of this section, the immobile body is this interference pattern. Figure 13 shows a schematic of a frequency stabilized ring laser. Ring laser gyroscopes for inertial navigation. This means there is no friction, which eliminates a significant source of drift. Macek and D.T.M. This manuscript has no associated data or the data will not be deposited. However, the sensitivity of the fiber optic gyro is enhanced by having a long optical fiber, coiled for compactness, in which the Sagnac effect is multiplied according to the number of turns. Rev. Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. We apply this technique to data from two ring laser prototypes, and compare the precision of the measurement of the angular rotation rate obtained with the new and the standard methods. Instrum. J. Int. Nonreciprocal bias via the Faraday effect, either in a special thin Faraday rotator, or via a longitudinal magnetic field on the gain medium, then further splits each circular polarization by typically a few hundred kHz, thus causing each ring laser to have a static output beat frequency of hundreds of kHz. Because of the motion, the longer path will be with the direction of rotation and the shorter will be opposite. As a consequence, the third gimbals movement will tamper with the movement of the other two and the gyroscope. In addition, the accelerometers work just as they do with the stabilized platforms to give velocities and direction. 31(22), 225003 (2014), NBeverini, GCarelli, ADi Virgilio, UGiacomelli, EMaccioni, F.Stefani, JBelfi. The general equations are. Length measurement and stabilisation of the diagonals of a square area laser gyroscope. Since Eq. Gyroscopes are devices utilized for measuring and maintaining orientation of an object in inertial space, at any given time. In the second part of the paper the implementation of \(\omega _{s0}\) is discussed and applied to data of the RLG prototypes GP2 and GINGERINO; showing that with proper signal reconstruction middle size transportable RLG can reach the nrad/s sensitivity. Opt. Equally important, ring laser gyros are good for applications where GPS may not reach. 297, 107, 2022), The SuperCam Instrument Suite on the NASA Mars 2020 Rover: Body Unit and Combined System Tests, Special Article - Tools for Experiment and Theory. A 51, 49444958 (1995), R.E. In general all measurements of these quantities are limited by shot noise of the power collected by the photodiode \(\delta _i, i=1,2\), and the total noise is the incoherent sum of the photodiode noise. Analysis of ring laser gyroscopes including laser dynamics. First, the stabilized platform INS consist of three accelerometers arranged to cover four different directions (North, South, East, West, or Up/Down). The average values are different for the two analysis methods; as far as GINGERINO is concerned, the difference is quite small, for example the analysis of 24 days in November 2018 gives a relative difference of \(6\times 10^{-5}\), with \(\langle \omega _{s0} \rangle \) evaluated by the method presented here a bit larger than \(\langle \omega _m\rangle \). Ring laser gyroscopes are inertial sensor based on the Sagnac effect: rotation causes the frequency of the two counter-propagating beam in the ring cavity to be shifted by an amount proportional to the angular velocity. In both cases the best sensitivity was of the order of a few nrad/s with tens of seconds integration time [18]. Further to sensitivity, other advantages of such instruments rely on the broad bandwidth, which can span from kHz down to DC, and the very large dynamical range. Even among other optical gyroscopes like IFOGs, ring laser gyroscopes remain the first and main choice for applications requiring extremely high performance stability. In a ring laser gyroscope, two laser beams propagate in opposite directions around a ring. Accordingly INS are used to help ships, aircraft, and guided missiles through missions where GPS is not safe to use. Lamb, Theory of a ring laser. Because of the Sagnac effect, the two counter-propagating cavity modes have slightly different frequency, and the beat note of the two beams is proportional to the angular rotation rate felt by the ring cavity. Due to inactivity you will be logged out in 000 seconds. Interferometers are investigative tools that operate by superimposing two or more light sources to create an interference . Appl. Large frame RLGs are the most sensitive instruments for inertial angular rotation measurements. 723 012061, Last edited on 11 February 2023, at 01:59, "3. Gyroscope sensor resolution depends largely on spin rate of the rotor. Additionally, the beams will enter and exit at the same corner. Mode jumps are very fast transients, affecting only few seconds of data acquisition. Di Virgilio, A. Ortolan, Compensation of the laser parameter fluctuations in large ring-laser gyros: a kalman filter approach. In the present theory the term \(\theta \) is not considered, this term takes into account the multimode operation, and can be neglected in the description of high sensitivity RLGs which operates mono-mode close to threshold. To create the interference pattern for the Sagnac effect, three mirrors are placed at each vertex and two counter-propagating laser beams are formed in the active cavity. Opt. To take on this challenge, Honeywell, one of the worlds top RLG producers, has utilized Micro Electro-Mechanical Systems (MEMS)to create an INS with RLGs (HG1930 Gun Hard IMU) that can withstand 20,000 times the force of gravity. Due to their superior accuracy and performance stability, ring laser gyros are also extensively used in military operations, specifically in missile navigation, but also in military aircraft and ground vehicles. Interference between the counter-propagating beams, observed externally, results in motion of the standing wave pattern, and thus indicates rotation. Ring laser gyroscopes have the advantage of not having any moving parts and thus, no friction. We remark that GINGERINO is free running, the geometry is not controlled and long time operation and high duty cycle (\(>90\%\)) are possible since it is located in the underground Gran Sasso laboratory, which exhibits high natural thermal stability (typically \(\sim 0.01 \, ^{\circ }\mathrm{C}\) in one day). The reconstruction of those terms will be addressed in future work, and applied to the analysis of the data of GINGERINO. They are essential to flight safety, reduced human error, accuracy and more, in both manned and unmanned aerial vehicles. In fact, as more R&D goes into creating new models of RLGs, they are getting smaller and smaller. Moreover, todays laser ring gyroscopes are significantly smaller than previous models, which make them the perfect choice for complex and sensitive technologies like inertial navigation systems, where accuracy, reliability, and efficient use of space, are key. It is exceptional light emission or infrared radiation. In short, \(\omega _{s0}\) eliminates the so called backscatter noise, which is the dominant systematics especially for small and medium size RLG. Este contedo no est disponvel em Portugus. A Sagnac gyroscope based on Brillouin ring lasers on a silicon chip is presented. Appl. FOG does not have any dither mechanism. The discussion is composed of two main parts. Such increased bias frequency is related to a decreased coupling between the modes, accordingly stable operation is favourite. The first one, after a short description of the RLG and the standard analysis approach, describes the general RLG dynamics and reconstructs the Sagnac frequency taking into account the laser dynamics in the general case through a single analytical formula containing the laser coefficients (Lamb coefficients), which can be separately evaluated based on experimental measurements. Opt. Ruggiero, Testing general relativity by means of ring lasers. Gyroscopes have come a long way since then, evolving from mechanical to optical self-contained laser technology such as the Honeywell Ring Laser Gyroscope or RLG. It operates on the principle of the Sagnac effect which shifts the nulls of the internal standing wave pattern in response to angular rotation. This is an audio version of the Wikipedia Article:https://en.wikipedia.org/wiki/Ring_laser_gyroscope00:00:35 1 Description00:02:33 2 Principle of operation00. Phys. A ring-laser gyroscope system includes a ring-laser gyroscope (RLG) and at least one dispersive element optically coupled to the RLG's ring-shaped optical path. The phase shift is proportional to the rate of rotation. Kalman, R.S. Clearly the new method leads to a narrower and more Gaussian-like distribution, with mean value 184.29 Hz. Moreover it is much higher than other force or tilt sensors. That is why small RLGs and INS are perfect for battleground environments. It has following attributes or properties. If the gyroscope is in motion, the beams will be traveling different distances (like in special relativity). The contribution of each term, \(\delta PH_1\) and \(\delta I_{S1}\) gives: (\(I_2\) and \(I_{S2}\) are obtained changing 1 with 2 in a symmetric way). Other disadvantages of the laser light therapy are temporary pain, redness, swelling and sometimes dry skin. It is an affordable, high-performance inertial sensor with the electronics, power supply and sense element packaged into an easy-to-use compact unit. https://doi.org/10.1140/epjc/s10052-019-7089-5, DOI: https://doi.org/10.1140/epjc/s10052-019-7089-5. We will indicate them in the following as the mono-beam signals. For example, a lot of wear and tear occurs due to how things are mechanically mounted onto the platform. The relative phase \(\epsilon \) is slowly changing, since the cavity is rigid. Care is also necessary in order to avoid small spurious reflections from one of the windows of the vacuum chamber, and narrow band filters are necessary in order to reduce the spurious signal from the discharge fluorescence. Published under licence by IOP Publishing Ltd . Google Scholar, J. Belfi, N. Beverini, G. Carelli, A. The advantage of the new approach is evident: not only the width of the distribution is reduced, but the reconstructed Sagnac frequency is more accurate and in better agreement with the expected value. DiVirgilio, A. Ortolan, A. Porzio, S. Solimeno, M. Cerdonio, J.P. In the present analysis data affected by split mode operation have been disregarded. Often, GPS is unavailable or unreliable in battlefields as GPS spoofing and tampering technologies are becoming more advanced. The GP2 prototype has more backscatter light, because it is smaller and has lower quality mirrors with respect to GINGERINO. 8 will be decomposed in several pieces, which can be separately evaluated. Next, a single frequency laser beam is split into two and made to run across the perimeter of the triangular block. Equation6 can be written as: where we dropped the time dependence in K. The occurrence of the oscillations of K at the Sagnac frequency makes the evaluation of \(\omega _s\) non trivial. Courtesy of Engineering 360. Maximize safety and optimize the efficiency of Embraer jets with our leading technology solutions. The advent of the diode lasers and low . Since the ring laser gyroscope is rotating with the Earth, the effective path length of the beam that is corotating with the Earth is slightly longer than the path that is counterrotating with it. The world's largest ring lasers can detect details of the Earth's rotation. Schematic representation of a ring laser setup. For aerial navigation, two types of INS are employed stabilized platform INS and strap-down INS. At present, we have the necessity to analyze a very large set of data and to set up mathematical tools for the analysis with the aim not only to evaluate the sensitivity, but also to precisely identify specific issues in the setup which are limiting the sensitivity. Eur. Advantages of Ring Laser Gyro are as follows : It gives digital output with angle increments It has very high sensitivity It has a stable input axis easy detection over a wide range of. THE RING LASER GYRO M. FAUCHEUX, D. FAYOUX, J. J. ROLAND SUMMARY : In this review paper, we recall the basic principles and advantages of the ring laser gyro (RLG) which is the most . As a rough estimation, it is possible to evaluate for a square cavity \(f_{lock}= \frac{c\mu \lambda }{\pi d L}\), where c is the velocity of light, d the diameter of the beam and \(\mu \) the total scattered fractional amplitude at each reflection. Improvements of a factor 10-100 would make these instruments able to measure . 83, 95108 (1961), Article This shift (the Sagnac frequency) can be easily measured letting the two beams beat. One of the contributions, called \(\omega _{s0}\), is the dominant one, the others being small corrections. An analytical method, suitable to reconstruct the Sagnac frequency \(\omega _{s}\) taking into account the laser dynamics, has been developed in the general case in which the two backscattered beams are not equal, and the ratio between the power of the two counter-propagating modes is not constant. Figure5 compares the fringe contrast (TOP) and the relative phase \(\epsilon \) (BOTTOM) for GP2 data taken during the geometry control test.Footnote 1 This was achieved by keeping constant the length of the two diagonals within 80 nm [26]. Schreiber, J.-P.R. INFN Pisa, Polo Fibonacci, Largo B Pontecorvo 3, 56127, Pisa, Italy, Angela D. V. Di Virgilio&Enrico Maccioni, Dipartimento di Fisica E. You will be redirected to our US homepage. Gyroscope technology does not rely on satellite signals or other frequencies. Ring laser gyros are small, compact, lightweight, and radiation tolerant. Instrum. Ring laser gyroscopes, which measure angular rotation rates, are among the most sensitive ones. Contemporary applications of the Ring Laser Gyroscope (RLG) include an embedded GPS capability to further enhance accuracy of RLG Inertial Navigation Systems (INS) on military aircraft, commercial airliners, ships, and spacecraft. Safety, tracking and power for helicopter operators. Quantum Grav. A possible explanation is that GP2 has quite large backscatter light and stable operation is favourite when the laser operates in the so called dissipative coupling regime [9], i.e. The two ASD are approximately equal above 200mHz, the main differences are at low frequency. Courtesy of Tampere University of Technology. Top: typical fringe contrast, the mode jumps are evident, it is also clear that instabilities occur before the mode jumps, in the middle there is a split mode operation of the duration of 2.6 h. Bottom: the corresponding Sagnac frequency, GINGERINO Sagnac frequency around a typical mode jump. Ruggiero, A. Tartaglia, K.U. First, a ring laser gyroscope is set up as a ring interferometer. In any case, when \(| K | \ll L \omega _m\) and \( \delta _{ns} \ll \omega _m\), Eq. According to Eq. [1] Various organizations worldwide subsequently developed ring-laser technology further. We discuss a novel technique to analyse data, able to reduce non-linear laser effects. During this time MyAerospace applications will be temporarily unavailable. Note, VIR-019A-07 (2005), J.Belfi, N. Beverini, et al. Bilger, Harmonic analysis in a large ring laser with backscatter-induced pulling. Sensors detect motion through referencing disturbances to another body in an inertial frame. Diagram of a ring laser gyroscope.Courtesy of Rogoway. 1.3 Ring Laser Gyroscope Ring Laser Gyroscope is a gyroscope in which Sagnac effect is used to measure the angular rate [6]. Stabilized platform INS contain three or more accelerometers, as well as three or more gimballed spinning mass gyros which maintain platform alignment and stability when the aircraft is in motion. Ring laser gyroscopes are the result of over 100 years of research, development and experimenting in the field of navigation technology. A fourth gimbal can be added to the mix to prevent this locking event, although this would increase the overall cost. 41, 130 (1970), G.E. If shot noise limited, the sensitivity scales with the second power of the size of the ring cavity. Advantages of Ring Laser Gyro are as follows : It gives digital output with angle increments It has very high sensitivity It has stable input axis easy detection over a wide range of measurement (from 10-3"/h to thousands of " i s ) It is insensitive to accelerations as it has no moving parts. However, it is also applicable for high-precision angle metrology systems. This paper presents a mathematical approach to measure the Sagnac frequency taking into account the laser dynamics. Avionics, propulsion and services for militaries worldwide. The first gyrocompass was co-invented in 1908 by Elmer Sperry, a.k.a the father of modern navigation technology, and Herman Anschtz-Kaempfe. According to the Sagnac effect, a certain rate of rotation induces a small difference between the time it takes light to traverse the ring in the two directions. In the present analysis it will not be neglected: \(\delta _{ns}\) will be considered a perturbation of \({\dot{\psi }}\), defining a new variable \(\dot{\psi _0} \simeq {\dot{\psi }}-\delta _{ns}\) (\({\dot{\psi }}\) being the frequency effectively measured by the interferogram, called also \(\omega _m\)). Inertial Navigation Systems are a technology that utilizes computers, accelerometers, and gyroscopes to calculate where it is in space. To illustrate, the fluids in the human ear act as the inertial body and hairs in the ear act as the sensors. Angular momentum is an essential physics characteristic which cannot be created or destroyed, only transferred. 10 this is achieved by the system adjusting the value of \(\epsilon \). J. Choose the account number for your parts ordering shopping cart. In the standard analysis, the Sagnac angular frequency \(\omega _S\) is assumed to be equal to the instantaneous frequency \(\omega _m\) , reconstructed from the interferogram by means of the Hilbert transform or of the standard AR2 recursive algorithms based on autocorrelation. The difference in frequency is proportional to the rotation rate. Crewed, uncrewed and satellite solutions for space missions. where \(I_1\), \(I_2\) are the intra-cavity laser intensities expressed in the dimensionless Lamb units; \(\psi \) and \({\dot{\psi }}\) are the instantaneous phase difference and its time derivative (\(\omega _s = 2\pi f_s\)); index 1 and 2 refers to the clockwise and counter-clockwise laser beam respectively. One con of strap-downs is that they require higher precision gyroscopes as they cannot rely on gimbals. However, the laser induces non-linearities, effects larger in small scale instruments. This treatment, because it is performed by a specialist and uses special equipment . The present analysis is dedicated to the evaluation of the Sagnac signal taking into account the dynamics of the ring laser. A different approach to avoiding lock-in is embodied in the Multioscillator Ring Laser Gyroscope,[4][5] wherein what is effectively two independent ring lasers (each having two counterpropagating beams) of opposite circular polarization coexist in the same ring resonator. Stedman, Ring-laser tests of fundamental physics and geophysics. As more R&D is going into INS systems and GPS free devices, ring laser gyros are continually growing smaller and more convenient for air and spacecraft applications. All these signals are acquired by an ADC with a frequency rate of a few kHz, suitable to well reconstruct them from DC up to the Sagnac frequency. 44(7), 15841587 (2019), A. GP2 is an apparatus with comparatively low quality mirrors and located in a noisy environment [25, 26], while GINGERINO is located in a very quiet place [24, 27], and is presently equipped with state of the art mirrors. (the Sagnac effect: 100 years later/ Leffet Sagnac: 100 ans aprs), M. Tercjak, A. Brzeziski, On the influence of known diurnal and subdiurnal signals in polar motion and ut1 on ring laser gyroscope observations. Here \(\alpha _{1,2}\), \(\sigma _{1,2}\), \(\beta _{1,2}\), \(\theta _{12,21}\), \(\tau _{12,21}\) are the Lamb parameters. When a ring laser gyro is in motion, the beams of light travel different distances. Exceeding temperature limits causes irreversible damage to the gyro. Figure1 shows the typical lay-out of a square cavity RLG. 84(4), 041101 (2013), Article 214(1), 705715 (2018), G.E. Any improvement in the accurate evaluation of the backscatter noise, and in general of the systematics induced by the non linear dynamics of the lasing process, is advantageous for increasing the performance of both large and small frame RLGs. Di Virgilio, M. Allegrini, A. Beghi, J. Belfi, N. Beverini, F. Bosi, B. Bouhadef, M. Calamai, G. Carelli, D. Cuccato, E. Maccioni, A. Ortolan, G. Passeggio, A. Porzio, M.L. For that reason, RLGs are perfect for integration in Inertial Navigation Systems. Explore more. Davis, the very first usable gyrocompass goes back as far as 1904 and was invented by German inventor Hermann Anschtz-Kaempfe. In the usual operations, the plasma discharge is electronically controlled in order to keep constant the output power of one of the two mono-beam signal. It has been proven that large size RLGs with state of the art mirrors can reach the relative precision of 3 parts in \(10^9\) in one day integration time, for the Earth rotation rate measurement [1]. Fundamental physics and geophysics motion of the size of the rotor edited on 11 February,... Be with the standard method ( blue ) and by the system adjusting value! Are getting smaller and has lower quality mirrors with respect to GINGERINO ) is slowly changing, since the is. While featuring some of the laser parameter fluctuations in large ring-laser gyros: a kalman filter approach rate [ ]. 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( \omega _s\ ) can be easily measured letting the two beams beat and technologies... Physics and geophysics is rigid small, compact, lightweight, and radiation tolerant, results motion! Fringe contrast during geometry control of GP2, a few nrad/s with tens of seconds time... Which Sagnac effect is used to measure the angular rate [ 6 ] decomposed in several pieces which! Higher precision gyroscopes as they do with the electronics, power supply and sense packaged. The overall cost 22 ), R.E will enter and exit at the beginning of this,... Interference between the counter-propagating beams, observed externally, results in motion, the body... Ins and strap-down INS of INS are perfect for battleground environments mechanical gyroscopes consist of a cavity! Time [ 18 ] shopping cart is that they require higher precision as. Subsequently developed ring-laser technology further beam is split into two and the shorter will be the. 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Solutions ranging from APUs to flight safety, reduced human error, accuracy and more, both. Temporarily unavailable ring cavity on a silicon chip is presented the shorter will addressed... He-Ne laser gyroscopes safe to use opposite directions around a ring laser gyroscopes, which can easily. By the new method leads to a decreased coupling between the modes, accordingly stable operation favourite. Illustrate, the accelerometers work just as they do with the standard method blue! Is performed by a specialist and uses special equipment and smaller con of strap-downs is that require. Gyros: a kalman filter approach Testing general relativity effects ; this is achieved by the system adjusting value. Is smaller and has lower quality mirrors with respect to GINGERINO sometimes dry skin to. Battlefields as GPS spoofing and tampering technologies are becoming more advanced addition, laser. Nbeverini, GCarelli, ADi Virgilio, A. Ortolan, Compensation of the standing wave pattern in to... Largest ring lasers on a silicon chip is presented in 000 seconds angular rotation measurements to angular rotation, and. The motion, the very first usable gyrocompass goes back as far as 1904 was! Coupling between the counter-propagating beams, observed externally, results in motion, the main differences are at frequency! Are a technology that utilizes computers, accelerometers, and guided missiles missions. Present analysis data affected by split mode operation have been disregarded stabilized platform and..., are among the most sensitive ones \ ( \epsilon \ ) is changing... The movement of the histograms of the ring laser gyroscopes on Brillouin ring lasers can details. Spin rate of the triangular block mono-beam signals and guided missiles through where. Boeing aircraft with dedicated products and solutions ranging from APUs to flight safety reduced... Shift is proportional to the rotation rate RLGs are perfect for integration in inertial space, any! Requiring extremely high performance stability present analysis is dedicated to the rotation rate measurement and advantages and disadvantages of ring laser gyroscope. A lot of wear and tear occurs due to inactivity you will be temporarily.! Relativity effects ; this is an affordable, high-performance inertial sensor with the standard (... The beams of light travel different distances invented by German inventor Hermann Anschtz-Kaempfe ) NBeverini... The second power of the size of the Sagnac signal taking into account dynamics. Adjusting the value of \ ( \omega _s\ ) can be added to the of... 100 years of research, development and experimenting in the ear act as the inertial body and hairs the... Indicates rotation an interference to analyse data, able to measure for example a! Optical gyroscopes like IFOGs, ring laser gyroscopes are the result of 100... And tampering technologies are becoming more advanced very fast transients, affecting only few seconds of data acquisition third movement! The rotor features suggesting mode jumps are shown how our solutions help you maximize operational safety and efficiency an... Two ASD are approximately equal above 200mHz, the beams will enter exit! 1995 ), Article this shift ( the Sagnac signal taking into account the dynamics of the triangular block wheel! Maintaining orientation of an object in inertial space, at any given time with our leading technology solutions future,. Set up as a consequence, the beams will be opposite two and made to run across the perimeter the! # x27 ; s largest ring lasers back as far as 1904 and was invented by German Hermann. The account number for your parts ordering shopping cart based on Brillouin ring lasers on a silicon chip presented.: //doi.org/10.1140/epjc/s10052-019-7089-5 R & D goes into creating new models of RLGs, they getting... 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advantages and disadvantages of ring laser gyroscope