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OPEN A novel method to eliminate

the symmetry dependence of fiber
coils for shupe mitigation
Tugba Andac Senol 1,2*, Onder Akcaalan 2, Aylin Yertutanol 2 & Ekmel Ozbay 1,2,3,4

It is a well-known fact that interferometric fiber optic gyroscopes (IFOGs) are easily distorted by
thermal effects and distortion results in the degradation of the performance of these sensors.
Changing the fiber coil geometry, increasing the winding symmetry, adding fiber buffer layers
around the fiber coil, using different modulation methods for multifunctional integrated optic chips,
and using special types of fibers, such as photonic crystal fibers, are some alternative solutions for
preventing this degradation. This paper, theoretically and experimentally, investigates not only how
different types of fiber coil winding methods behave under different rates of temperature change but
also presents a novel method, to the best of our knowledge, to eliminate the Shupe effect, without
violating the simplest IFOG scheme. This method rules out the importance of the winding symmetry
epochally and the need of any extra treatment for the fiber coil to increase the thermal performance
of the system. Regardless of the symmetry of the fiber coil winding, the rate error due to the Shupe
effect can be reduced to about ±0.05◦ /h for any rate of temperature change with this new method
according to the experimental results.

Interferometric fiber optic gyroscopes are used in inertial navigation systems both in industry and military fields
requiring compact, cost-effective, and reliable solutions. They are used for guidance, navigation, and control in
air and land vehicles. They use Sagnac E ­ ffect1. The improvements of low-loss optical fibers, as well as solid-state
semiconductor light sources and ­detectors2 have helped the advent of the IFOGs in addition to the effect that
Sagnac unearthed. Moreover, IFOGs are solid-state devices and have no moving parts, they have tendency for
miniature ­manufacturing3, long l­ ifetime4, very quick turn-on ­time4, high ­reliability5–7, high precision, and their
sensitivity can be easily increased by increasing the number of wraps in the fiber coil u ­ sed5. These are just some
of the advantages that have ensured their outdistancing the other types of gyroscopes, e.g., ring laser gyroscopes
(RLGs)4,7–9.
An ideal IFOG should be able to only measure the Sagnac phase shift. However, the Sagnac effect is not the
only source of measurable phase shift in practice. Environmental effects such as ­temperature10, magnetic ­field11,12,
or ­vibration13 create differences in the optical paths. These effects can cause some undesired nonreciprocal phases
apart from the Sagnac phase shift. The real Sagnac phase shift can not be easily distinguished from the other
nonreciprocal phase shifts. That’s why, they have to be minimised as much as possible in order to have a high
quality fiber optic rotation sensor.
As the sensing element, the fiber coil takes the lead in affecting the performance of the IFOG. In particular,
the thermal sensitivity of the fiber coil reveals its sensitivity. Special winding methods have been proposed to
overcome this performance l­ imitation14–21. The quadrupole winding pattern is one of the most widely used tech-
niques with proven ­performance14. The counter-propagating light waves do not follow the same paths through
the fiber segments in the fiber coil when they are exposed to different rates of temperature change. This causes a
false rotation signal and the quadrupole winding pattern helps to reduce this non-reciprocal error. However, this
winding method is no longer sufficient to meet the performance demands of IFOGs. Further work is required to
increase the winding symmetry of the fiber coil and eventually improve the thermal performance of the ­IFOG22.
Apart from the winding methods, mechanical ­studies23 and different modulation ­techniques24,25 have also been
carried out to reduce the temperature effects. Using special types of fibers such as photonic crystal fibers (PCFs)
in fiber coils to decrease the temperature dependency of the refractive index is also offered as an alternative to
solve the problems caused by the environmental effects on I­ FOGs26.

1
Department of Physics, Bilkent University, 06800 Ankara, Turkey. 2Nanotechnology Research Center
(NANOTAM), Bilkent University, 06800 Ankara, Turkey. 3Department of Electrical and Electronics Engineering,
Bilkent University, 06800 Ankara, Turkey. 4Institute of Materials Science and Nanotechnology (UNAM), Bilkent
University, 06800 Ankara, Turkey. *email: tugba.andac@bilkent.edu.tr

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In the present paper, we study the rate errors due to the thermal characteristics of different types of fiber coils
both theoretically and experimentally. We bring in the trimming method in addition to the usage of different
winding methods for the very same purpose. We verify the model experimentally as well with different rates of
temperature change. Furthermore, we notice that the rate error due to the Shupe effect behaves independently
in the direction of the real rotation during the temperature analyses. We develop a novel method in which the
Shupe effect can be easily measured and integrated into the IFOG systems independent of temperature variation
and fiber coil winding symmetry.
Beams traveling uneven paths create undesirable nonreciprocal phase shifts along with the real phase shift
coming from the rotation that is to be measured. By considering this phase shift, the angular error of thermally
induced non-reciprocity, φshupe (t), for the IFOG can be calculated ­by10
 L/2
nc dnc
φshupe (t) = ( + αnc )( dl(2l − L) × [�T(l, t) − �T(l ′ , t)]), (1)
4NA dT 0

where nc = 1.46 is the refractive index of the fiber core, N = 48 is the number of turns in the fiber coil, A is the
area of the fiber coil with a diameter of 10 cm, dnc /dT = 10−5 /◦C is the temperature dependence of the refractive
index of the fiber, α = 5 × 10−7 /◦C is the coefficient of linear thermal expansion of fiberglass and L = 1037 m is
the total length of the fiber coil. Here, l and l ′ represent the locations of the two rotating beams at the same time
and �T(l, t) and �T(l ′ , t) represent the temperature differences between the locations l and l ′ simultaneously.
The simplified version of the equations, simulated by using M ­ ATLAB27 and experimental works of thermal
effects for the winding methods of four different fiber coils (dipole (AB), quadrupole (ABBA), octupole (ABBA-
BAAB), and hexadecapole (ABBABAABBAABABBA)), are presented in the supplementary material. Besides,
the rate errors caused by the stress on the fiber under varying temperature is examined and presented in (Supp.
Fig. 6) in the supplementary material. Based on the outcomes, the effects coming from the stress is relatively
low, hence ignored in the rest of the paper.
As seen in Supp. Eqs. (2) and (3), the rate error due to the Shupe effect is an absolute error that is independ-
ent of the direction of the real rotation. The phenomenon of the Shupe effect being independent of real rotation
allows us to easily calculate the rate error due to this effect by simply reversing the fiber coil axis horizontally,
such as changing its axis from the +x to the −x. By considering a constant rotation such as the Earth’s rotation
applied to the system; the total phase shifts for the +x and −x axes can be shown as in Eqs. (2) and (3) ,respec-
tively. When these phase shifts are added up to each other as shown in Eqn. (4), the twofold pure rate error due
to the Shupe effect can be easily found.
+x
φtotal = φrotation + φshupe1 (2)

−x
φtotal = −φrotation + φshupe1 (3)

+x −x
φtotal + φtotal = 2φshupe1 (4)

To prove this phenomenon experimentally, we used a hexadecapolar fiber coil wound by using PM fiber
with 80 µm cladding and 168 µm coating diameter. That fiber coil is wound on a spool with an average diameter
of 85 mm consisting of 48 layers in total. Each layer had 80 turns of fiber as was also used in the model (see
supplementary material). The total length of the fiber coil was approximately 1037 m and was obtained by an
optical time domain reflectometer (OTDR) measurement (YOKOGAWA AQ7270). We constructed an IFOG
by splicing a homemade broadband ASE light source and a three-in-one homemade multifunctional integrated
optic chip (MIOC) to the fiber coil. MIOC was fabricated with annealed proton exchange (APE) method. The
light source has a central wavelength of 1537 nm coupled to a 3-dB optical coupler. APE-MIOC was acting as
a >40-dB polarizer, a 3-dB coupler and a phase modulator. Once the loop was completed, we implemented a
photodetector to the system to convert the interfered optical signal. We packed and placed only the fiber coil with
a temperature sensor in a magnetic shield to prevent nonreciprocal errors coming from magnetic field changes.
First, we ran the test while the fiber coil was horizontally placed in the +x axis over different temperatures in the
climatic chamber. Then, we horizontally reversed the fiber coil and repeated the same test. The rotation rate of
Earth was measured as +9.6◦ /h in Ankara, Turkey via the constructed IFOG with horizontally placed fiber coil.
The rotation rate of Earth was measured as −9.6◦ /h via the constructed IFOG with horizontally reversed placed
fiber coil. The rate data were read with the aid of software by using a closed-loop modulation technique and
presented as a function of temperature assessed between −40 and +60◦ C operating temperature in the chamber
with a 0.2◦C/min. rate of temperature change.
Figure 1 shows the experimental rate vs. temperature data obtained from the IFOG comprising the fiber coil
placed horizontally in the +x direction (a), horizontally reversed in the −x direction (b) and the total phase shift
in both directions (c) calculated by using Eqn. (4) from both tests respectively. To compare the rate errors due
to the Shupe effect, the Earth rotation is subtracted from the real rates. Therefore, the compensated absolute
rate errors that are reduced to ±0.05◦ /h are presented with the result obtained from the IFOG comprising a
perfectly trimmed hexadecapolar fiber coil (d). The comparison between these three results shows good agree-
ment with each other.
In IFOG systems, it is not possible to simultaneously reverse the fiber coil axis horizontally. Therefore, a
separate setup has been prepared to see if the presented phenomenon will still be valid when two different fiber

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Figure 1.  Rate versus temperature graph of the IFOG comprising the fiber coil with the hexadecapole pattern
obtained at a rate of 0.2◦C/min temperature change horizontally placed in the (a) +x direction, (b) horizontally
reversed placed in the −x direction, (c) total phase shift of the same IFOG in both directions, (d) compensated
absolute rate errors in both directions compared with the result obtained from the IFOG comprising a perfectly
trimmed hexadecapolar fiber coil at a rate of 0.2◦C/min temperature change.

coils are used in the setup, as shown in Fig. 2. One of the two fiber coils in this setup was horizontally reversed.
The setup was prepared similarly as explained herein above. Then, the equations turn to:
+x
φtotalC1 = φrotation + φshupeC1 (5)

−x
φtotalC2 = −φrotation + φshupeC2 (6)

RC1,C2 = φshupeC1 /φshupeC2 (7)

+x −x
φtotalC1 + φtotalC2 = φshupeC1 + φshupeC2 (8)

If the real rotation φrotation is known, the ratio RC1,C2 between φshupe1 and φshupe2 can be easily found by using
Eqs. (5), (6), (7). Here, two different IFOGs comprising hexadecapolar fiber coils were tested at 0.2◦C/min., 1 ◦
C/min., and 4 ◦C/min. rates of temperature change. The ratios between these coils RC1,C2 are found to be 3.015,
3.003, and 3.024, respectively for each rate of temperature change, under the Earth rotation. This proves that
the ratio of RC1,C2 is constant for any rate of temperature change, even if two different fiber coils are used. The
uncompensated absolute rate errors are presented for one of the two different hexadecapolar fiber coils at 0.2◦C/
min., 1 ◦C/min., and 4 ◦C/min rates of temperature in Fig. 3a. The error rate increases with respect to the rate of
temperature accordingly. However, the absolute rate error can be compensated down from ±2◦ /h (as max. rate
error) to ±0.05◦ /h as shown in Fig. 3b by using Eqs. (7), and (8). The result obtained from the IFOG compris-
ing the perfectly trimmed hexadecapolar fiber coil at a rate of a temperature change of 0.2◦C/min. is also shown
in Fig. 3b, and labeled as 0.2◦C/min.*, for comparing the results. The data obtained from the reverse axis are
provided in the supplementary material (Supp. Fig. 3b).
To prove the validity of the claim about the elimination of the symmetry dependence of the fiber coils, we used
one fiber coil with a hexadecapole winding pattern from the previous setup and one different fiber coil wound
with a quadrupole winding pattern. We also know that fiber coils with quadrupole winding pattern is more

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Figure 2.  Photograph of the experimental setup.

Figure 3.  (a) Absolute rate errors of the IFOG comprising the hexadecapolar fiber coil obtained at a rate of 0.2◦
C/min., 1 ◦C/min., and 4 ◦C/min. temperature change, (b) compensated absolute rate errors of the hexadecapolar
fiber coil, respectively, compared with the result obtained from the IFOG comprising a perfectly trimmed
hexadecapolar fiber coil at a rate of a 0.2◦C/min. temperature change.

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sensitive to the Shupe effect. The ratios RC1,C2 have also been calculated for these fiber coils. They were found to
be 5.167, 5.203, and 5.189, for a 0.2◦C/min., 1 ◦C/min., and 4 ◦C/min. rate of temperature change, respectively.
Figure 4a shows the uncompensated absolute rate error for the quadrupolar fiber coil at 0.2◦C/min., 1 ◦ C/min.,
and 4 ◦C/min. rate of temperature change. The absolute rate error can be decreased from ±3◦ /h (as max. rate
error) to ±0.05◦ /h after the compensation as shown in Fig. 4b. The result obtained from the IFOG comprising
the perfectly trimmed hexadecapolar fiber coil at a rate of a temperature change of 0.2◦C/min. is also shown in
Fig. 4b, and labeled as 0.2◦C/min.* for comparing the results. The data obtained from the reverse axis are provided
in the supplementary material (Supp. Fig. 4b).
There are several methods used for aiming to reduce the errors caused by the Shupe effect. Table 1 shows
the comparison of the proposed method with some other important ones such as modified quadrupolar fiber
­coil18, double-cylinder(D-CYL) w ­ inding19, crossover-free fiber optic g­ yros20, dual-polarization interferometric
fiber optic g­ yroscope21, and geometric birefringence-enhanced polarization-maintaining fi ­ ber28 in terms of tem-
perature range, thermal transient sensitivity and fiber coil length. According to this comparison, the proposed
method shows reasonable and convincing results.

Symmetry‑independent‑winding IFOG (SIW‑IFOG)

Based on the agreement that we observed between the real and the compensated results, we designed a new
configuration that consists of four-axes, namely −x (as Shupe), +x, +y, and +z. We proposed a novel system
called symmetry-independent-winding IFOG (SIW-IFOG) to compensate for the errors caused by the Shupe
effect in Fig. 5. The ratios for each different fiber coil pair RS,X , RS,Y , and RS,Z can be calculated by using Eqs. (5),

Figure 4.  (a) Absolute rate errors of the IFOG comprising the quadrupolar fiber coil obtained at a rate of 0.2◦
C/min., 1 ◦C/min., and 4 ◦C/min. temperature change, (b) compensated absolute rate errors of the quadrupolar
fiber coil, respectively, compared with the result obtained from the IFOG comprising a perfectly trimmed
hexadecapolar fiber coil at a rate of a 0.2◦C/min. temperature change.

Method Temperature range ( ◦C) Thermal transient sensitivity ( ◦/h)/( ◦ C/min) Fiber coil length (m)
Method ­118 −10, +50 1.130 2050
Method ­219 −40, +70 0.018 993
Method ­320 −40, +60 5.000 260
Method ­421 −40, +60 0.090 1000
Method ­528 −40, +60 0.480 1016
Proposed −40, +60 0.025 1037

Table 1.  Comparison of different compensation methods.

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PDz
2x1 MIOC +z
SWC +z

PDy
2x1 MIOC +y
SWC +y
1550nm

RS,Z = φ shupeS / φ shupeZ

RS,Y = φ shupeS / φ shupeY
RS,X = φshupeS/ φ shupeX
ASE source 1x4
SWC
PDx
MIOC
2x1 +x
+x
SWC

PDs -x
2x1 MIOC (Shupe)
SWC Shupe

Signal Process and

Rate
Feedback Loop
Figure 5.  Schematics of the configuration of the symmetry-independent-winding IFOG (SIW-IFOG).

(6), and (7). Then, we have a constant ratio between the real rate errors coming from the Shupe effect for each
different fiber coil pair, such as:
RS,i = φshupeS /φshupe(i) (9)
where i represents the axes as X, Y, and Z according to the position of the gyroscope and the ratio RS,i is inde-
pendent of the rate of temperature change as shown in Figs. 3 and 4.
In the system, the ratio RS,X between CoilS (−x axis) and CoilX (+x axis) will be the checkpoint to calculate
how much the real rate errors are coming from the Shupe effect. By adding these two total rates, −x (Eqn. (11))
and +x (Eqn. (12)), the real rotations will cancel each other out and the total real rate errors will emerge, as in
Eqn. (13). The known ratio RS,X reveals the real rate errors for the +x and −x axes. In addition, when the real
rate error is known for CoilS, by using the ratio for remaining axes, RS,Y , and RS,Z , the real rate errors can also
be calculated for the y and z axes easily.
RS,X = φshupeS /φshupeX → known (10)

−x
φtotal = φrotation−x + φshupeS (11)

+x
φtotal = φrotation+x + φshupeX (12)

−x +x
φtotal + φtotal = φshupeS + φshupeX (13)

Conclusion
In conclusion, we started our studies aiming to understand the thermal effects that cause phase differences other
than the Sagnac effect on different fiber coils. We experimentally showed the independence of the Shupe effect on
the real rotation by simply repeating the test with a single hexadecapolar fiber coil in reverse directions. We have
conducted several tests at different rates of temperature changes with two IFOGs comprising different hexade-
capolar fiber coils. We experimentally calculated a ratio between the real rate errors of these IFOGs. We showed

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that this ratio is constant for any rate of temperature change. We also reinforced our argument by repeating the
test with a quadrupolar fiber coil that is known to be more sensitive to the Shupe effect. The reason behind using
this fiber coil was to prove the claim about the elimination of the symmetry dependence of the fiber coil for the
Shupe effect. Based on the outcomes of these studies, we proposed a novel configured complete system called
SIW-IFOG that eliminates the winding symmetry dependence of the performance of the IFOGs and compensates
the errors 40 times reduced for the hexadecapolar fiber coil and 60 times reduced for the quadrupolar fiber coil
down to ±0.05◦ /h that is caused by the Shupe effect. In future studies, the effectiveness of this new method will
be examined for rate errors due to the Kerr effect as well as the Faraday effect under temperature change and
vibration, which are independent of the direction of the real rotations.

Data availibility
The datasets used and/or analysed during the current study available from the corresponding author on reason-
able request.

Received: 29 November 2023; Accepted: 9 April 2024

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Acknowledgements
This work is partially produced from the Ph.D. studies of T.A.S. One of the authors (E.O.) also acknowledges
partial support from the Turkish Academy of Sciences.

Author contributions
T.A.S. and O.A. conceived the experiments. T.A.S. conducted the experiments. O.A. conducted the simulations.
T.A.S. and O.A. analysed the results. A.Y. reviewed the manuscript. E.O. supervised the study.

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Competing interests
The authors declare no competing interests.

Additional information
Supplementary Information The online version contains supplementary material available at https://​doi.​org/​
10.​1038/​s41598-​024-​59330-x.
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