A cold atom three-axis acceleration measurement system and method without attitude stabilization platform

Abstract

The present invention provides a cold atom three-axis acceleration measurement system and method without an attitude stabilization platform. The system includes three cold atom interference optical paths arranged on a carrier. The three cold atom interference optical paths are arranged to intersect orthogonally with the atomic cluster trapping center as the orthogonal center. Each cold atom interference optical path includes an incident light adjustment mechanism and a reflected light adjustment mechanism. The incident light adjustment mechanism adjusts the angle of the incident light in real time with the orthogonal intersection of the incident light in the three cold atom interference optical paths as the goal. The reflected light adjustment mechanism adjusts the angle of the reflected light in real time with the coincidence of the reflected light and the incident light in the current cold atom interference optical path as the goal. The present invention does not require a stabilization platform to stabilize the attitude of the measurement unit. It adopts a time-sharing interference method of three orthogonal sensitive axes to achieve acceleration measurement of three orthogonal axes. During the measurement process, the three-axis orthogonality is controlled and the angle of each axis is adjusted in real time, which greatly reduces the complexity of the system and improves the system's adaptability to dynamic environments.

Description

Technical Field

[0001] The present invention relates to the technical field of cold atom interferometric precision measurement, and more particularly to a cold atom three-axis acceleration measurement system and method without an attitude stabilization platform. Background Art

[0002] Three-axis acceleration measurement is of great significance in fundamental and cutting-edge scientific research, including resource exploration, space science, ocean science, geodesy, geophysics, and geodynamics. High-precision three-axis acceleration measurement can replace traditional gravity measurement equipment to measure Earth's gravity field parameters. Its measurement results also include information on gravity anomalies and vertical deviations, providing precise initial alignment parameters for rocket launches, manned spaceflight, and lunar exploration, effectively serving space science. High-precision three-axis acceleration measurement can effectively improve the accuracy of passive navigation information, suppress error divergence in inertial navigation, and significantly enhance long-duration, covert autonomous navigation capabilities and positioning accuracy.

[0003] Cold atom interferometry has developed rapidly over the past 20 years, being widely applied in precision measurement physics and fundamental physics research, and achieving fruitful results. The cold atom three-axis acceleration measurement method utilizes cold atom clusters, whose atomic energy-level structure is very stable. Consequently, it offers advantages such as high precision, good stabilization, and low drift, as well as the absence of mechanical wear and a long service life. The basic operating principle of cold atom three-axis acceleration measurement is as follows: cold atom clusters interfere with each other under the influence of a sequence of π / 2-π-π / 2 Raman laser pulses in different directions, achieving interferometric measurements in each direction. Acceleration measurements along each measurement axis are then combined with the force balance accelerometer measurements along each measurement axis for filtering.

[0004] However, conventional cold-atom three-axis acceleration measurement instruments require a specially designed stabilization platform to stabilize the attitude of the measurement unit. This requires considering both the stability of the platform's operation and the range of the cold-atom interferometer, resulting in a complex system structure and difficulty in miniaturization. Summary of the Invention

[0005] The present invention aims to solve the technical problems existing in the prior art and provides a cold atom three-axis acceleration measurement system and method without an attitude stabilization platform to solve the problem of complex system structure of conventional cold atom acceleration measurement instruments.

[0006] According to a first aspect of the present invention, a cold atom three-axis acceleration measurement system without an attitude stabilization platform is provided, comprising three cold atom interference optical paths provided on a carrier, wherein the three cold atom interference optical paths are arranged to intersect orthogonally with the atomic group trapping center as the orthogonal center;

[0007] Each of the cold atom interference light paths includes an incident light adjustment mechanism and a reflected light adjustment mechanism;

[0008] The incident light adjustment mechanism adjusts the angle of the incident light in real time with the goal of orthogonally converging the incident light in the three cold atom interference light paths;

[0009] The reflected light adjustment mechanism adjusts the angle of the reflected light in real time with the goal of making the reflected light coincide with the incident light in the current cold atom interference light path.

[0010] On the basis of the above technical solution, the present invention can also make the following improvements.

[0011] Optionally, the cold atom interference optical path includes a laser beam expansion and collimation assembly, an incident light reflector, a folding mirror group, a reflected light reflector, and a force balance accelerometer, which are sequentially arranged along the optical axis, wherein:

[0012] The laser beam expansion and collimation assembly is used to sequentially adjust the diameter, collimation, and polarization state of the input laser to obtain incident light that can switch between linear polarization and circular polarization;

[0013] The incident light reflector is connected to the incident light adjustment mechanism and is used to adjust the optical axis angle of the linearly polarized incident light so that the three-axis incident light is orthogonal;

[0014] The folding mirror assembly is used to make the linearly polarized incident light converge toward the trapped center of the atomic group;

[0015] The reflected light reflector is connected to the reflected light adjustment mechanism and is used to reflect the incident light passing through the atomic group so that the obtained reflected light coincides with the incident light;

[0016] The force balance accelerometer is connected to the reflected light adjustment mechanism and is used for collecting force balance acceleration measurement data in real time.

[0017] Optionally, the incident light adjustment mechanism and / or the reflected light adjustment mechanism includes an adjustment platform driven by a motor.

[0018] Optionally, it further includes a posture detection unit provided on the carrier, wherein the posture detection unit detects real-time posture information of the carrier;

[0019] The incident light adjustment mechanism adjusts the angle of the incident light in real time based on the real-time posture information of the carrier, with the goal of orthogonally intersecting the incident light in the three cold atom interference light paths;

[0020] The reflected light adjustment mechanism adjusts the angle of the reflected light in real time according to the real-time posture information of the carrier and with the goal of making the reflected light coincide with the incident light in the current cold atom interference light path.

[0021] Optionally, a photodetector is also included, which is arranged adjacent to the atomic cluster to be measured, and the photodetector does not interfere with the three cold atom interference light paths. The photodetector is used to detect the atomic fluorescence signal of the atomic cluster and perform atomic state population distribution calculation to obtain three-axis atomic interference information.

[0022] Optionally, a joint solution module is also included, which is used to jointly solve the real-time posture information of the carrier, the three-axis atomic interference information and the force balance acceleration measurement data to obtain the three-axis acceleration measurement data and the force balance accelerometer bias estimation value.

[0023] Optionally, the incident light adjustment mechanism and the reflected light adjustment mechanism are initialized with the orthogonal zero position as the target at the beginning of each measurement cycle. When the incident light adjustment mechanism and the reflected light adjustment mechanism are at the orthogonal zero position, the optical axes of the three incident lights are arranged to intersect orthogonally with the atomic group trapping center as the orthogonal center.

[0024] According to a second aspect of the present invention, a method for measuring cold atom triaxial acceleration without an attitude stabilization platform is provided. Based on the above-mentioned cold atom triaxial acceleration measurement system without an attitude stabilization platform, the method comprises:

[0025] In a single measurement cycle, the incident light adjustment mechanism and the reflected light adjustment mechanism are initialized with the orthogonal zero position as the target, so that the optical axes of the three cold atom interference light paths are set to orthogonally intersect with the atomic cluster trapping center as the orthogonal center;

[0026] Collect force balance acceleration measurement data and real-time attitude information of the carrier;

[0027] Using a three-axis time-sharing interferometer method, the three-axis atomic interference information is measured in sequence when three cold atom interference light paths act on the cold atom cluster; according to the real-time posture information of the carrier and with the three-axis orthogonality as the goal, the angles of the three axes are adjusted in real time;

[0028] The force balance acceleration measurement data, the three-axis atomic interference information and the real-time posture information of the carrier are jointly solved to obtain the three-axis acceleration measurement data.

[0029] Optionally, the method of using three-axis time-sharing interferometry to sequentially measure acceleration measurement data when three cold atom interference light paths act on the cold atom cluster includes:

[0030] Control the first atomic cluster cooling and trapping, and perform interference measurement on the first cold atom interference optical path to obtain the first-axis atomic interference information;

[0031] Control the second atomic cluster cooling and trapping, and perform interference measurement on the second cold atom interference optical path to obtain the second axis atomic interference information;

[0032] The third atomic cluster cooling and trapping is controlled, and the third cold atom interference optical path is used for interference measurement to obtain the third-axis atomic interference information.

[0033] Optionally, a joint solution is performed based on the force balance acceleration measurement data, the three-axis atomic interference information and the real-time posture information of the carrier to obtain a force balance accelerometer bias estimate, and the force balance accelerometer is calibrated using the force balance accelerometer bias estimate.

[0034] The present invention provides a cold atom three-axis acceleration measurement system and method without an attitude stabilization platform. The system does not require a stabilization platform to stabilize the attitude of the measurement unit, but adopts a time-sharing interference method of three orthogonal sensitive axes to achieve acceleration measurement of the three orthogonal axes. During the measurement process, the three-axis orthogonality is used as the control target, and the angle of each axis is adjusted in real time to keep the three-axis optical path in its orthogonal state. This greatly reduces the system complexity of the three-axis acceleration measurement equipment and improves the system's adaptability to dynamic environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic structural diagram of a cold atom three-axis acceleration measurement system without an attitude stabilization platform provided in an embodiment of the present invention;

[0036] Figure 2 A schematic flow chart of a method for measuring cold atom three-axis acceleration without an attitude stabilization platform is provided in an embodiment of the present invention.

[0037] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0038] 1 / 2 / 3, laser beam expansion and collimation assembly, 4 / 5 / 6, incident light reflector, 7 / 8 / 9, folding mirror group, 10 / 11 / 12, reflected light adjustment mechanism, 13 / 14 / 15, reflected light reflector, 16 / 17 / 18, incident light adjustment mechanism, 19, atomic cluster trapping center. DETAILED DESCRIPTION

[0039] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0040] Figure 1 A schematic diagram of the optical path composition structure of a cold atom three-axis acceleration measurement system without an attitude stabilization platform provided in an embodiment of the present invention.

[0041] like Figure 1 As shown, the present embodiment provides a cold atom triaxial acceleration measurement system without an attitude stabilization platform, comprising three cold atom interference optical paths provided on a carrier, wherein the three cold atom interference optical paths are arranged to intersect orthogonally with the atomic group trapping center 19 as an orthogonal center;

[0042] Each cold atom interference optical path includes an incident light adjustment mechanism 16 / 17 / 18 and a reflected light adjustment mechanism 10 / 11 / 12;

[0043] The incident light adjustment mechanism 16 / 17 / 18 adjusts the angle of the incident light in real time with the goal of orthogonally intersecting the incident light in the three cold atom interference light paths;

[0044] The reflected light adjustment mechanism 10 / 11 / 12 adjusts the angle of the reflected light in real time with the goal of making the reflected light coincide with the incident light in the current cold atom interference light path.

[0045] It is understandable that, based on the defects in the background technology, the embodiment of the present invention proposes a cold atom three-axis acceleration measurement system without an attitude stabilization platform. In this system, the atomic group is cooled and trapped in Figure 1 The atomic cluster trapping center 19 shown in the figure uses three cold atom interference light paths as three orthogonal sensitive axes, arranged orthogonally with this atomic cluster trapping center 19 as the orthogonal center. Using a time-sharing interference method with three orthogonal sensitive axes, acceleration measurement along the three orthogonal axes is achieved, ensuring the measurement range and significantly reducing the system complexity of the three-axis acceleration measurement equipment. During the test, the incident light adjustment mechanism 16 / 17 / 18 and the reflected light adjustment mechanism 10 / 11 / 12 use the three-axis orthogonality as the control target, adjusting the angle of each axis in real time. This eliminates the need for a dedicated stabilization platform to stabilize the measurement unit's posture, further reducing system complexity and improving the system's adaptability to dynamic environments.

[0046] In one possible embodiment, Figure 1 As shown, each of the cold atom interference optical paths includes a laser beam expansion and collimation component 1 / 2 / 3, an incident light reflector 4 / 5 / 6, a folding mirror group 7 / 8 / 9, a reflected light reflector 13 / 14 / 15, and a force balance accelerometer (not shown in the figure) arranged in sequence along the optical axis. For example, the first cold atom interference optical path includes a laser beam expansion and collimation component 1, an incident light reflector 6, a folding mirror group 8, a reflected light reflector 13, and a first force balance accelerometer arranged in sequence along the optical axis; the second cold atom interference optical path includes a laser beam expansion and collimation component 2, an incident light reflector 5, a folding mirror group 9, a reflected light reflector 15, and a second force balance accelerometer arranged in sequence along the optical axis; the third cold atom interference optical path includes a laser beam expansion and collimation component 3, an incident light reflector 4, a folding mirror group 7, a reflected light reflector 14, and a third force balance accelerometer arranged in sequence along the optical axis. Wherein:

[0047] The laser beam expansion and collimation components 1 / 2 / 3 are used to sequentially adjust the diameter, collimation, and polarization state of the input laser light to produce incident light with switchable linear polarization or circular polarization. For example, they expand the laser beam spot diameter, improve the laser collimation, and switch the laser beam's circular polarization or linear polarization, resulting in expanded and collimated incident light with switchable linear polarization or circular polarization. During operation, the incident light switches between circular and linear polarization modes to achieve cooling and interference processes.

[0048] The incident light reflectors 4 / 5 / 6 are fixedly connected to the incident light adjustment mechanisms 16 / 17 / 18 in a one-to-one correspondence, and are used to reflect the incident light output by the laser beam expansion and collimation components 1 / 2 / 3 to adjust the optical axis angle of the incident light, and then pass through the folding mirror group 7 / 8 / 9 so that the three beams of incident light in the three optical paths are orthogonal and aligned with the atomic group trapping center 19;

[0049] The folding mirror group 7 / 8 / 9 is used to make the incident light converge toward the atomic group trapping center 19, so that the incident light always converges and passes through the atomic group trapping center 19;

[0050] The reflected light mirrors 13 / 14 / 15 are fixedly connected to the reflected light adjustment mechanisms 10 / 11 / 12 in a one-to-one correspondence. The reflected light adjustment mechanisms 10 / 11 / 12 adjust the reflection angles of the reflected light mirrors 13 / 14 / 15. The reflected light mirrors 13 / 14 / 15 are used to reflect the incident light passing through the atomic cluster. The reflected light output by the reflected light mirrors 13 / 14 / 15 coincides with the incident light, so that the resulting reflected light passes through the atomic cluster trapping center 19 again, further realizing the miniaturization of the system.

[0051] The three force balance accelerometers are integrated and arranged on the reflected light adjustment mechanism 10 / 11 / 12 in a one-to-one correspondence, and are used to collect the force balance acceleration measurement data of each axis in real time.

[0052] In one possible embodiment, the system also includes a photodetector (not shown in the figure), which is arranged adjacent to the atomic cluster to be measured, and the photodetector does not interfere with the three cold atom interference light paths. The photodetector is used to detect the atomic fluorescence signal of the atomic cluster and perform atomic state population distribution calculation to obtain three-axis atomic interference information.

[0053] It is understandable that as a traditional acceleration measurement tool, the force balance accelerometer can continuously output force balance acceleration measurement data, but this measurement data has drift, so the accuracy needs to be improved. When atomic interferometry is performed, a comprehensive solution is performed by combining the three-axis atomic interferometry information, force balance acceleration measurement data and other parameters to obtain the three-axis acceleration measurement data after error elimination. The error value can also be calculated to calibrate the force balance accelerometer. When atomic interferometry is not performed, the acceleration measurement data output by the calibrated force balance accelerometer is used as the three-axis acceleration measurement data, which can effectively prevent the measurement dead zone problem.

[0054] In a possible embodiment, the incident light adjustment mechanism 16 / 17 / 18 and / or the reflected light adjustment mechanism 10 / 11 / 12 includes an adjustment platform driven by a motor, for example, an adjustment platform driven by a voice coil motor.

[0055] It can be understood that the voice coil motor is a motor based on the principle of electromagnetic induction, which has the advantages of simple structure, easy control, fast response speed, and high positioning accuracy. It can achieve fast response and high-precision control of the incident light reflectors 4 / 5 / 6 and the reflected light reflectors 13 / 14 / 15, ensuring the accuracy of the optical path adjustment.

[0056] In one possible embodiment, the incident light adjustment mechanisms 16 / 17 / 18 and the reflected light adjustment mechanisms 10 / 11 / 12 are initialized at the beginning of each measurement cycle with the quadrature zero position as the target. When the incident light adjustment mechanisms 16 / 17 / 18 and the reflected light adjustment mechanisms 10 / 11 / 12 are at the quadrature zero position, the three incident light axes are arranged to intersect orthogonally with the atomic group trapping center 19 as the orthogonal center. Initializing the system at each measurement cycle to return the incident light adjustment mechanisms 16 / 17 / 18 and the reflected light adjustment mechanisms 10 / 11 / 12 to the quadrature zero position helps improve the system's detection accuracy.

[0057] In a possible embodiment, the system further includes a posture detection unit ( Figure 1 (not shown) the posture detection unit detects real-time posture information of the carrier;

[0058] The incident light adjustment mechanism 16 / 17 / 18 adjusts the angle of the incident light in real time based on the real-time posture information of the carrier, with the goal of orthogonally intersecting the incident light in the three cold atom interference light paths; based on the real-time posture information of the carrier, the incident light adjustment mechanism 16 / 17 / 18 is converted to the same coordinate system as the carrier to adjust the angle of the incident light, thereby improving the adjustment accuracy;

[0059] The reflected light adjustment mechanism 10 / 11 / 12 adjusts the angle of the reflected light in real time according to the real-time posture information of the carrier and takes the coincidence of the reflected light and the incident light in the current cold atom interference light path as the goal, so that the reflected light obtained by the reflected light reflector 13 / 14 / 15 returns along the original path and passes through the atomic cluster trapping center 19 again.

[0060] In one possible embodiment, the system also includes a joint solution module, which is used to jointly solve the real-time posture information of the carrier, the three-axis atomic interference information and the force balance acceleration measurement data to obtain the three-axis acceleration measurement data and the force balance accelerometer bias estimation value.

[0061] Based on the above system embodiments, this embodiment also provides a cold atom three-axis acceleration measurement method without an attitude stabilization platform. Figure 2 The figure shows a flow chart of the measurement method of this embodiment. This embodiment provides a cold atom triaxial acceleration measurement method without an attitude stabilization platform, comprising:

[0062] (1) At the beginning of a single measurement cycle, the incident light adjustment mechanism 16 / 17 / 18 and the reflected light adjustment mechanism 10 / 11 / 12 are initialized with the orthogonal zero position as the target, so that the optical axes of the three cold atom interference light paths are set to orthogonally intersect with the atomic cluster trapping center 19 as the orthogonal center;

[0063] (2) Continuously collect force balance acceleration measurement data and real-time posture information of the carrier;

[0064] (3) In a single measurement cycle, the three-axis time-sharing interferometry method is used to measure the three-axis atomic interference data when the three cold atom interference light paths act on the cold atom cluster in sequence; Figure 2 As shown, for example:

[0065] Control the first atomic cluster cooling and trapping, and perform interference measurement on the first cold atom interference optical path (i.e., the first measurement axis) to obtain the first-axis atomic interference data;

[0066] Control the second atomic cluster cooling and trapping, and perform interference measurement on the second cold atom interference optical path (i.e., the second measurement axis) to obtain the second-axis atomic interference data;

[0067] Control the third atomic cluster cooling and trapping, and perform interference measurement on the third cold atom interference optical path (i.e., the third measurement axis) to obtain the third-axis atomic interference data;

[0068] (4) According to the real-time posture information of the carrier and with the three-axis orthogonality as the goal, the angles of the three axes are adjusted in real time;

[0069] (5) The three-axis atomic interference information, the real-time attitude information of the carrier and the force balance acceleration measurement data are combined for joint solution and filtering to obtain the three-axis acceleration measurement data and the force balance accelerometer bias estimation value, and then the force balance accelerometer is calibrated by the force balance accelerometer bias estimation value.

[0070] (6) Repeat steps (1) to (5).

[0071] It is understandable that, combined with Figure 1 and Figure 2 As shown, Figure 2 As shown, the cold-atom triaxial acceleration measurement method without an attitude stabilization platform utilizes a time-sharing interferometry method using three orthogonal sensitive axes. Measurement cycles are performed in the following order: first cluster trapped cooling, interferometry on measurement axis 1, cluster trapped cooling, interferometry on measurement axis 2, cluster trapped cooling, and interferometry on measurement axis 3. Each cycle constitutes a measurement period. During a single cycle, the triaxial atomic interferometry information and the force balance accelerometer measurement information for that measurement period are converted to the same coordinate system based on the carrier's real-time attitude information. Joint data processing and filtering are performed, outputting drift-free triaxial acceleration signal measurements. Force balance accelerometer bias estimation is also performed simultaneously, allowing the force balance accelerometer to be calibrated using the force balance accelerometer bias estimation. After completing a single measurement process, the incident light adjustment mechanisms 16 / 17 / 18 and the reflected light adjustment mechanisms 10 / 11 / 12 are initialized at the beginning of each measurement period to return to the orthogonal zero position. During the measurement process, the incident light adjustment mechanism 16 / 17 / 18 and the reflected light adjustment mechanism 10 / 11 / 12 take the orthogonal zero position initialized at the beginning of the cycle as the target, and adjust the angles of the incident light reflectors 4 / 5 / 6 and the reflected light reflectors 13 / 14 / 15 in real time according to the real-time posture information of the outside world (carrier) so that the three pairs of orthogonal intersecting light beams remain overlapping.

[0072] The cold atom three-axis acceleration measurement system and method provided by the embodiment of the present invention without an attitude stabilization platform have the following advantages:

[0073] (1) No stabilization platform is required to stabilize the attitude of the measurement unit. The time-sharing interference method of three orthogonal sensitive axes is adopted to realize the acceleration measurement of three orthogonal axes, which greatly reduces the system complexity of the three-axis acceleration measurement equipment and improves the system's adaptability to dynamic environments.

[0074] (2) Three folding mirror groups are used to ensure that the beam always passes through the atomic cluster trapping center 19 during the stabilization process, so that the atomic cluster trapping cooling and interference process can be completed with a beam of smaller radius, thereby improving the robustness of the system.

[0075] (3) The incident light adjustment mechanism 16 / 17 / 18 and the reflected light adjustment mechanism 10 / 11 / 12 return to the orthogonal zero position at the beginning of each measurement cycle, and in each measurement cycle, the orthogonal zero position initialized at the beginning of the cycle is used as the target. According to the external posture information, the angles of the incident light reflectors 4 / 5 / 6 and the reflected light reflectors 13 / 14 / 15 are adjusted in real time, so that the three pairs of orthogonal intersecting light beams remain overlapped, the actual stroke of the adjustment mechanism is reduced, the problem of insufficient stroke of the adjustment mechanism in a dynamic measurement environment is solved, and the system's adaptability to dynamic environments is improved.

[0076] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0077] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0078] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A cold atom three-axis acceleration measurement system without an attitude stabilization platform, characterized in that: It includes three cold atom interference light paths arranged on a carrier, wherein the three cold atom interference light paths are arranged to intersect orthogonally with the atomic group trapping center as the orthogonal center; Each of the cold atom interference light paths includes an incident light adjustment mechanism and a reflected light adjustment mechanism; The incident light adjustment mechanism adjusts the angle of the incident light in real time with the goal of orthogonally converging the incident light in the three cold atom interference light paths; The reflected light adjustment mechanism adjusts the angle of the reflected light in real time with the goal of making the reflected light coincide with the incident light in the current cold atom interference light path; The cold atom interference optical path includes a laser beam expansion and collimation assembly, an incident light reflector, a folding mirror group, a reflected light reflector, and a force balance accelerometer, which are sequentially arranged along the optical axis, wherein: The laser beam expansion and collimation assembly is used to sequentially adjust the diameter, collimation, and polarization state of the input laser to obtain incident light that can switch between linear polarization and circular polarization; The incident light reflector is connected to the incident light adjustment mechanism and is used to adjust the optical axis angle of the linearly polarized incident light so that the three-axis incident light is orthogonal; The folding mirror group is used to make the incident light output by the incident light reflecting mirror converge toward the atomic group trapping center; The reflected light reflector is connected to the reflected light adjustment mechanism and is used to reflect the incident light passing through the atomic group so that the obtained reflected light coincides with the incident light; The force balance accelerometer is connected to the reflected light adjustment mechanism and is used for collecting force balance acceleration measurement data in real time.

2. The cold atom three-axis acceleration measurement system without an attitude stabilization platform according to claim 1, characterized in that: The incident light adjustment mechanism and / or the reflected light adjustment mechanism includes an adjustment platform driven by a motor.

3. The cold atom three-axis acceleration measurement system without an attitude stabilization platform according to claim 2, characterized in that: It also includes a posture detection unit provided on the carrier, wherein the posture detection unit detects real-time posture information of the carrier; The incident light adjustment mechanism adjusts the angle of the incident light in real time based on the real-time posture information of the carrier, with the goal of orthogonally intersecting the incident light in the three cold atom interference light paths; The reflected light adjustment mechanism adjusts the angle of the reflected light in real time according to the real-time posture information of the carrier and with the goal of making the reflected light coincide with the incident light in the current cold atom interference light path.

4. The cold atom three-axis acceleration measurement system without an attitude stabilization platform according to claim 3, characterized in that: It also includes a photoelectric detector, which is arranged adjacent to the atomic cluster to be measured, and the photoelectric detector does not interfere with the three cold atom interference light paths. The photoelectric detector is used to detect the atomic fluorescence signal of the atomic cluster and perform atomic state population distribution calculation to obtain three-axis atomic interference information.

5. The cold atom three-axis acceleration measurement system without an attitude stabilization platform according to claim 4, characterized in that: It also includes a joint solution module, which is used to jointly solve according to the real-time posture information of the carrier, the three-axis atomic interference information and the force balance acceleration measurement data to obtain the three-axis acceleration measurement data and the force balance accelerometer bias estimation value.

6. The cold atom three-axis acceleration measurement system without an attitude stabilization platform according to claim 1, characterized in that: The incident light adjustment mechanism and the reflected light adjustment mechanism are initialized with the orthogonal zero position as the target at the beginning of each measurement cycle. When the incident light adjustment mechanism and the reflected light adjustment mechanism are at the orthogonal zero position, the optical axes of the three incident lights are arranged to intersect orthogonally with the atomic group trapping center as the orthogonal center.

7. A method for measuring cold atom triaxial acceleration without an attitude stabilization platform, based on the cold atom triaxial acceleration measurement system without an attitude stabilization platform according to any one of claims 1 to 6, characterized in that the method include: The incident light adjustment mechanism and the reflected light adjustment mechanism are initialized with the orthogonal zero position as the target, so that the optical axes of the three cold atom interference light paths are arranged to intersect orthogonally with the atomic group trapping center as the orthogonal center; Collect force balance acceleration measurement data and real-time attitude information of the carrier; Using the three-axis time-sharing interferometry method, the three-axis atomic interference information when the three cold atom interference light paths act on the cold atom cluster is measured in sequence; According to the real-time posture information of the carrier and with the three-axis orthogonality as the goal, the angles of the three axes are adjusted in real time; The force balance acceleration measurement data, the three-axis atomic interference information and the real-time posture information of the carrier are jointly solved to obtain the three-axis acceleration measurement data.

8. The cold atom triaxial acceleration measurement method without an attitude stabilization platform according to claim 7, characterized in that: The method of using three-axis time-sharing interferometry to sequentially measure acceleration measurement data when three cold atom interference light paths act on the cold atom cluster includes: Control the first atomic cluster cooling and trapping, and perform interference measurement on the first cold atom interference optical path to obtain the first-axis atomic interference information; Control the second atomic cluster cooling and trapping, and perform interference measurement on the second cold atom interference optical path to obtain the second axis atomic interference information; The third atomic cluster cooling and trapping is controlled, and the third cold atom interference optical path is used for interference measurement to obtain the third-axis atomic interference information.

9. The cold atom triaxial acceleration measurement method without an attitude stabilization platform according to claim 7, characterized in that: The force balance accelerometer is calibrated by performing a joint calculation based on the force balance acceleration measurement data, the three-axis atomic interference information and the real-time attitude information of the carrier, and obtaining the bias estimation value of the force balance accelerometer.

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