Method for determining changes in the rotational orientation of an NMR gyroscope in space and NMR gyroscope

Abstract

The invention relates to a method for determining a directional change of rotation by means of an NMR gyroscope and an NMR gyroscope. The invention uses the following measures: in a vapor chamber (104) filled with at least a first gaseous element and a second gaseous element having a non-zero nuclear spin, a nuclear spin component of the second element along a second direction (2) and a nuclear spin component of the second element along a third direction (3) are determined. The second direction (2) and the third direction (3) are different from each other. In addition, the two directions are perpendicular to a first direction (1) corresponding to the direction of a static magnetic field and the polarization direction of the nuclear spin of the second element. In addition, the second direction (2) corresponds to the direction of an applied alternating magnetic field, the frequency of which corresponds to the Larmor frequency of the Larmor precession of the nuclear spin of the second element around the static magnetic field. As a result, it is then possible to determine a change in orientation of a rotation with an axis of rotation parallel to the first direction (1), a change in orientation of a rotation with an axis of rotation parallel to the second direction (2), and a change in orientation of a rotation with an axis of rotation parallel to the third direction (3).

Description

Technical Field

[0001] The invention relates to a method for determining a change in the rotational orientation of an NMR gyroscope in space and to a gyroscope. Background Art

[0002] MEMS-based rotation rate sensors or gyroscopes can be used to detect changes in the rotational orientation in space. These rotation rate sensors or gyroscopes are inexpensive and small. Their deviation is about 1° / hour and their accuracy, for example, allows lane keeping for about 40 seconds for an autonomous vehicle when all other driver assistance systems fail. They can be used, for example, as a backup for radar positioning, video-assisted positioning and GPS positioning.

[0003] Much more accurate are laser gyroscopes, which can be used for aircraft navigation. They are based on the optical Sagnac effect and have a deviation of only about 0.0035° / hour. However, they are relatively large and expensive and are therefore hardly suitable for use in vehicles.

[0004] An alternative possibility is to use NMR gyroscopes ("Nuclear Magnetic Resonance", that is, nuclear magnetic resonance). These NMR gyroscopes evaluate the nuclear magnetic resonance signals of atomic nuclei with non-zero magnetic moments. The NMR gyroscopes can be manufactured in microstructures and have a deviation of approximately 0.02° / hour. As a result, they are up to 50 times more accurate than MEMS gyroscopes.

[0005] A feasible scheme for providing an NMR gyroscope with an axis is to provide a vapor chamber with a mixture of, for example, xenon and rubidium. With the help of a polarized pump laser beam, the rubidium electron spins in the vapor chamber can be polarized. Due to the strong coupling between rubidium and xenon, this causes the polarization of the xenon nuclear spins parallel to the rubidium electron spins. With the help of a static magnetic field along the polarization direction, the nuclear spin precession of the xenon nuclear spins around the static magnetic field can be generated. The precession frequency is here dependent on the Larmor frequency of the static magnetic field. By an alternating magnetic field, the frequency of the alternating magnetic field corresponds to the Larmor frequency and the alternating magnetic field can be loaded perpendicularly to the static magnetic field, it is possible to achieve coherent precession of all nuclear spins. If a polarized sampling laser beam or an evaluation laser beam is now radiated perpendicularly to the static magnetic field through the vapor chamber, the polarization of the sampling laser beam rotates periodically at the Larmor frequency due to the Faraday effect. By means of a polarizer or polarization filter and a detector, intensity fluctuations modeled with the Larmor frequency can thus be observed. A rotation of the sensor about an axis of rotation parallel to the static magnetic field causes a shift in the Larmor frequency proportional to the rotation rate. By evaluating the intensity signal output by the detector, a change in the rotational orientation with an axis of rotation parallel to the polarization direction can thus be determined. Summary of the invention

[0006] According to the invention, a method for determining a change in the rotational orientation of an NMR gyroscope in space and an NMR gyroscope are provided having the features of the independent claims. Advantageous embodiments are the subject matter of the dependent claims and the following description.

[0007] The present invention uses the following measures: in a vapor chamber filled with at least a gaseous first element and a gaseous second element having a non-zero nuclear spin, a static magnetic field is applied along a first direction corresponding to the polarization direction of the nuclear spin of the second element and the nuclear spin components of the second element along a second direction and a third direction are determined respectively. Here, the second direction and the third direction are different from each other and are both perpendicular to the first direction. In addition, the second direction corresponds to the direction of the applied alternating magnetic field, and the frequency of the alternating magnetic field corresponds to the Larmor frequency of the Larmor precession of the nuclear spin of the second element around the static magnetic field. Then, the directional change of the rotation having a rotation axis parallel to the first direction, a rotation axis parallel to the second direction, and a rotation axis parallel to the third direction can be ascertained from the vector of the Larmor precession.

[0008] As will be explained below, this measure makes it possible to determine the change in the orientation of the rotation in all three spatial directions with the aid of only one vapor chamber and a few additional components. This minimizes the costs and the structural volume for providing the NMR gyroscope.

[0009] As the first element, an alkali metal, preferably rubidium or cesium, can be used in particular. The second element with a non-zero nuclear spin can in particular be xenon, helium, krypton or neon or a specific isotope mixture of the gases, such as Xe-129 and Xe-131. Gases with specially defined isotope mixtures of, for example, xenon and at least one other gas, such as, for example, helium, neon or krypton, are also conceivable.

[0010] The first direction, the second direction and the third direction expediently each have an angle of 90° relative to one another. In this way, rotational changes in orientation can be calculated particularly easily.

[0011] Preferably from the relation , and Obtaining the orientation change of the rotation having a rotation axis parallel to the first direction , a change in orientation of a rotation having an axis of rotation parallel to the second direction and a rotational orientation change having an axis of rotation parallel to the third direction ,in Corresponding to the frequency of the alternating magnetic field, Corresponding to the static magnetic field applied, Corresponding to the amplitude of the alternating magnetic field along the second direction, and Corresponding to the total and coherent decay rates, The spin exchange rate is plotted, which is determined by the electron spin of the first element The exchange interaction induces an orientation of the nuclear spin of the second element, is the nuclear spin component of the second element along the first direction, and The gyromagnetic ratio of the nuclear spin is plotted. The nuclear spin component along the second direction for the second element and the nuclear spin component of the second element along the third direction With the measurement of the temporal profile of , there is sufficient information to unambiguously determine the change in orientation of the rotation about all three spatial coordinate axes.

[0012] In particular, a change in the orientation of a rotation having an axis of rotation parallel to the second direction is determined. , the method is: in addition to the alternating magnetic field along the second direction, a feedback magnetic field is applied by means of the first alternating magnetic field generator , the feedback magnetic field is controlled so that the nuclear spin component of the second element along the second direction The deviation of the Larmor precession about the first direction becomes zero, so that the relationship Ability to determine the directional change of the rotation In this way, a change in orientation of a rotation having an axis of rotation parallel to the second direction can be determined without great computational effort. .

[0013] It is expedient to determine a change in the orientation of a rotation having an axis of rotation parallel to the third direction. , the method is: loading a feedback magnetic field along the third direction , the feedback magnetic field is controlled so that the nuclear spin component of the second element along the third direction The deviation of the Larmor precession about the first direction becomes zero, so that the relationship Ability to determine the directional change of the rotation .

[0014] Preferably, a change in the orientation of a rotation having an axis of rotation parallel to the first direction is determined. The method is: by changing the frequency of the alternating magnetic field applied along the second direction, the frequency shift of the nuclear spin component of the second element along the second direction and / or the nuclear spin component along the third direction is compensated so that the frequency of the applied alternating magnetic field corresponds to the nuclear spin component of the second element along the second direction. and / or the nuclear spin component of the second element along the third direction The frequency offset is determined in particular by a phase control loop or a phase-locked loop.

[0015] For the nuclear spin component of the second element along the third direction The measurement is preferably carried out in the following manner, namely: a linearly polarized first evaluation laser beam from a first evaluation laser irradiates the vapor chamber along a third direction, wherein the evaluation laser beam irradiates a polarized first beam splitter after irradiating the vapor chamber, and the first beam splitter splits the first evaluation laser beam into a transmitted beam and a reflected beam, wherein a first and a second detector are provided so that the transmitted beam irradiates the first detector and the reflected beam irradiates the second detector. This is advantageous because in this way the nuclear spin component along the third direction that depends on the second element through the polarization plane is detected. The nuclear spin component can be measured very easily and accurately. The time variation curve.

[0016] In particular, for the nuclear spin component of the second element along the second direction The measurement is performed in the following manner: a linearly polarized second evaluation laser beam from a second evaluation laser irradiates the vapor chamber along a second direction, wherein the evaluation laser beam irradiates a polarized second beam splitter after irradiating the vapor chamber, and the second beam splitter splits the second evaluation laser beam into a transmitted beam and a reflected beam, wherein a third and a fourth detector are provided so that the transmitted beam irradiates the third detector and the reflected beam irradiates the fourth detector. This is advantageous because in this way the nuclear spin component along the second direction that depends on the second element through the polarization plane is detected. The nuclear spin component can be measured very easily and accurately. The time variation curve.

[0017] The steam chamber is preferably constantly temperature-controlled to a value between 110° C. and 120° C., preferably 115° C., which is achieved in particular by means of an infrared laser. This is advantageous because in this way the measurement constant remains the same and measurement distortions due to temperature changes are avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Further advantages and embodiments of the invention emerge from the description and the drawings.

[0019] The invention is schematically illustrated in the drawings by means of an exemplary embodiment and is described below with reference to the drawings.

[0020] Figure 1 A schematic diagram shows a vapor chamber having a mixture of a first gas and a second gas having a non-zero nuclear spin, when loaded with a pump laser and a static magnetic field;

[0021] Figure 2 The schematic diagram shows Figure 1 after the nuclear spins of the gas having non-zero nuclear spin have been oriented parallel to the electron spins of the first gas;

[0022] Figure 3 The schematic diagram shows Figure 1 and 2 A vapor chamber to which an alternating magnetic field is applied perpendicularly to a static magnetic field, the frequency of which corresponds to the Larmor frequency of the Larmor precession of nuclear spins of a gas having non-zero nuclear spins about the static magnetic field;

[0023] Figure 4 The schematic diagram shows Figure 3a vapor chamber which is irradiated with an evaluation laser beam polarized perpendicularly to the static magnetic field, the light of the evaluation laser beam being subsequently detected by a detector having a preceding polarization filter;

[0024] Figure 5 A preferred embodiment of the NMR gyroscope according to the invention is shown in a schematic perspective illustration. DETAILED DESCRIPTION

[0025] Next, we will use Figures 1 to 4 The technical principle of an NMR gyroscope and a method for determining a change in a rotational orientation in space by means of such an NMR gyroscope are described.

[0026] In order to determine changes in the rotational orientation in space by means of an NMR gyroscope having an axis of rotation parallel to the spatial coordinate axes, a vapor chamber is required having a mixture of rubidium as a gaseous first element and xenon as a gaseous second element having a non-zero nuclear spin.

[0027] Such a steam room Figure 1 . A static magnetic field 30 is applied in the direction of the mentioned spatial coordinate axis. In addition, the vapor chamber is irradiated with circularly polarized light 20 by a pump laser parallel to the static magnetic field 30 at a frequency suitable for polarizing the electron spins of the rubidium atoms 11, that is, the rubidium electron spins, in the direction of the static magnetic field 30.

[0028] Due to the strong interaction between the electron spin of the rubidium atom 11 and the nuclear spin of the xenon atom 12, the nuclear spin of the xenon atom 12, that is, the xenon nuclear spin, is polarized parallel to the electron spin of the rubidium atom 11 and begins to cause the static magnetic field 30 to precess. This state is Figure 2 Since the phase of the precession of the electron spins of the rubidium atoms 11 and the phase of the precession of the nuclear spins of the xenon atoms 12 differ from atom to atom, a constant magnetic moment 50 is generated which is oriented parallel to the polarization direction, the mentioned spatial coordinate axes, the direction of the pump laser 20 and the direction of the static magnetic field 30.

[0029] In the next step, an alternating magnetic field 60 is applied in a direction perpendicular to the static magnetic field 30, the frequency of which corresponds to the Larmor frequency of the Larmor precession of the xenon nuclear spins 11 around the static magnetic field 30. As a result, the xenon nuclear spins 11 precess around the static magnetic field 30 in phase with the Larmor frequency. This state is Figure 3 . This results in a common magnetic moment 50 which precesses at the Larmor frequency around the static magnetic field 30 . The precession movement of the common magnetic moment 50 is denoted by reference numeral 51 .

[0030] The magnetic field change caused by the in-phase xenon nuclear spin precession 51 acts back on the rubidium electron spin 12, which also precesses around the static magnetic field 30 at the Larmor frequency of the xenon nuclear spin 11. Figure 4 Shown in.

[0031] If a linearly polarized evaluation laser beam 70 is now radiated through the vapor chamber perpendicularly to the direction of the static magnetic field 30, the polarization direction of the evaluation laser beam 70 rotates due to the Faraday effect as the electron spins of the rubidium 11 rotate around the static magnetic field 30. Therefore, the evaluation laser beam can be detected by a detector 111 having a preceding polarizer configured as a polarization filter, which corresponds to an intensity signal that changes with the Larmor frequency of the xenon nuclear spins 11.

[0032] In the case of a change in the orientation of the rotation of the steam chamber with an axis of rotation parallel to the static magnetic field 30, the frequency of the intensity signal shifts with the rotation rate. This frequency shift can be detected by means of an evaluation unit, thereby enabling the change in the orientation of the rotation with an axis of rotation parallel to the static magnetic field to be detected.

[0033] Figure 5 A preferred embodiment of an NMR gyroscope according to the invention is shown in a schematic perspective view. The NMR gyroscope has a vapor chamber 104 which contains a mixture of gaseous rubidium as a first element and gaseous xenon as a second element.

[0034] The NMR gyroscope further comprises a pump laser 101. The pump laser is designed to emit a circularly polarized laser beam 101a in a first direction 1 in such a way that the laser beam irradiates the vapor chamber 104 in the first direction and polarizes the rubidium electron spins 11 in the first direction 1. Due to the strong electron-nuclear spin interaction, the xenon nuclear spins 12 are also polarized in the first direction.

[0035] As an additional solution, the gyroscope has a magnetic field generator for generating a static magnetic field along the first direction 1. In this embodiment, the magnetic field generator has a Helmholtz coil pair 501. If a magnetic field with a strength of 50 is applied along the first direction 1, If there is a static magnetic field, the xenon nuclear spin 12 will precess around the static magnetic field at the Larmor frequency.

[0036] Furthermore, the gyroscope has a first alternating magnetic field generator with a Helmholtz coil pair 502 and an actuation device 205, which is configured to generate an alternating magnetic field in a second direction 2 perpendicular to the first direction 1. The alternating magnetic field has an amplitude It has a circular frequency , which corresponds to the Larmor frequency of the Larmor precession of the xenon nuclear spins 12 about the static magnetic field 30. As a result, the Larmor precession of the xenon nuclear spins becomes in phase.

[0037] In addition, the gyroscope here has a first evaluation laser 102, which is designed to emit a linearly polarized first evaluation laser beam 102a along the second direction 2 in such a way that the second evaluation laser beam irradiates the vapor chamber 104 along the second direction 2. This first evaluation laser beam 102a irradiates the first polarized beam splitter 201 after the vapor chamber 104 in such a way that the transmitted beam irradiates the first detector 202 with a linear first polarization direction and the reflected beam irradiates the second detector 203 with a linear second polarization direction perpendicular to the linear first polarization direction. The polarized beam splitter is designed here as a cubic beam splitter.

[0038] In addition, the NMR gyroscope here has a second evaluation laser 103, which is set up to irradiate the vapor chamber 104 with a second evaluation laser beam 103a along a third direction 3. The third direction 3 is perpendicular to the first direction 1 and the second direction 2. The second evaluation laser beam 103a irradiates the second polarized beam splitter 301 after the vapor chamber 104. The second beam splitter 301 is constructed as a cube beam splitter similar to the first beam splitter 201 in this embodiment. The second beam splitter 301 is set up to: continue a component of the second evaluation laser beam 103a in a linear first polarization direction in the transmitted beam irradiated on the third detector 302. In addition, the second beam splitter 301 is set up to: continue a component of the second evaluation laser beam 103a in a linear second polarization direction perpendicular to the first polarization direction in the reflected beam irradiated on the fourth detector 303.

[0039] Furthermore, the NMR gyroscope has a second alternating magnetic field generator with a Helmholtz coil pair 503 and an actuation device 305 , which is designed to apply an alternating magnetic field to the steam chamber along a third direction 3 .

[0040] For evaluating the detector signals, the NMR gyroscope has an evaluation unit which in this embodiment is formed by a first evaluation module 204 and a second evaluation module 304 and a first control device 205 and a second control device 305 of the first and second alternating magnetic field generators.

[0041] The first evaluation module 204 is configured to determine the time profile of the nuclear spin component of the second element along the second direction as a difference between the measured intensities at the first detector 202 and the second detector 203. If the temporal variation curve has an offset, that is, an offset of the signal zero line or the baseline, then a feedback magnetic field is outputted by means of the first control device 205 and the first alternating magnetic field generator 502. , so that the measured offset disappears. Then, with the help of the first evaluation module 204, the relationship A change in orientation or a rate of rotation of a rotation having an axis of rotation parallel to the second direction is determined.

[0042] The second evaluation module 304 is configured to determine the time profile of the nuclear spin component of the second element along the third direction as a difference between the intensities measured at the third detector 302 and the fourth detector 303 If the temporal variation curve has an offset, then a feedback magnetic field is outputted by means of the first control device 305 and the first alternating magnetic field generator 503. , so that the measured offset disappears. Then, with the help of the second evaluation module 304, the relationship The change in orientation or the rate of rotation of a rotation having an axis of rotation parallel to the third direction 3 is determined.

Claims

1. A method for determining changes in the spatial rotational orientation of an NMR gyroscope, the NMR gyroscope having a vapor chamber (104) containing a mixture of at least one first element in the gaseous state and at least one second element in the gaseous state having a non-zero nuclear spin, the method comprising the following steps: - polarizing the electron spin (11) of the first element along a first direction (1), so that the nuclear spin (12) of the second element is polarized parallel to the electron spin (11) of the first element by a strong electron-nuclear spin interaction between the first element and the second element, - applying a static magnetic field (30) along the polarization direction of the nuclear spin (12) of the second element, so that the nuclear spin (12) of the second element precesses around the static magnetic field at a first Larmor frequency that depends on the static magnetic field (30); - applying an alternating magnetic field (60) along a second direction (2) perpendicular to the polarization direction (1) of the nuclear spin (12) of the second element, wherein the alternating magnetic field (60) has a frequency corresponding to the Larmor frequency of the Larmor precession of the nuclear spin (12) of the second element around the static magnetic field, so that the Larmor precession of the nuclear spin (12) of the second element becomes in phase inside the vapor chamber (104); - measuring a nuclear spin component k2 of the second element along a second direction (2) and a nuclear spin component k3 of the second element along a third direction (3) perpendicular to the first direction (1) and different from the second direction (2); - Determining the directional change of the rotation of the vapor chamber (104) having a rotation axis parallel to the first direction (1), having a rotation axis parallel to the second direction (2), and having a rotation axis parallel to the third direction (3) from the nuclear spin component k2 of the second element along the second direction (2) and the nuclear spin component k3 of the second element along the third direction (3).

2. The method according to claim 1, wherein the first direction (1), the second direction (2) and the third direction (3) respectively have an angle of 90° relative to each other.

3. The method according to claim 2, wherein the orientation change Ω1(t) of the rotation having the rotation axis parallel to the first direction (1), the orientation change Ω2(t) of the rotation having the rotation axis parallel to the second direction (2), and the orientation change Ω3(t) of the rotation having the rotation axis parallel to the third direction (3) are given by the relation and To obtain, where ω dry Corresponding to the frequency of the alternating magnetic field, B DC Corresponding to the static magnetic field applied, B AC Corresponding to the amplitude of the alternating magnetic field along the second direction, Γ1 and Γ2 correspond to the total and coherent decay rates, Γ se depicts the spin exchange rate which, by exchange interaction with the electron spin s1 of the first element, causes an orientation of the nuclear spin of the second element, k1 is the nuclear spin component of the second element along the first direction (1), and γ k The gyromagnetic ratio of the nuclear spins is depicted.

4. The method according to claim 3, wherein the change in orientation Ω2(t) of the rotation with an axis of rotation parallel to the second direction (2) is determined by applying a feedback magnetic field B in addition to the alternating magnetic field (60) along the second direction (2). FB，2 (t), the feedback magnetic field is controlled so that the shift of k2 of the nuclear spin component of the second element along the second direction (2) becomes zero, so that through the relationship The directional change Ω2(t) of the rotation can be determined.

5. The method according to claim 3 or 4, wherein the orientation change Ω3(t) of the rotation having a rotation axis parallel to the third direction (3) is determined by applying a feedback magnetic field B along the third direction (3) FB,3 (t), the feedback magnetic field is controlled so that the offset of the nuclear spin component k3 of the second element along the third direction (3) becomes zero, so that through the relationship The directional change Ω3(t) of the rotation can be determined.

6. A method according to claim 3 or 4, wherein a directional change Ω1(t) of a rotation having a rotation axis parallel to the first direction (1) is determined by compensating for a frequency shift of a nuclear spin component k2 of the second element along the second direction (2) and / or a nuclear spin component k3 of the second element along a third direction (3) by changing the frequency of an alternating magnetic field loaded along the second direction (2) so that the frequency of the loaded alternating magnetic field corresponds to the measured frequency of the nuclear spin component k2 of the second element along the second direction (2) and / or the nuclear spin component k3 of the second element along the third direction (3).

7. A method according to any one of claims 2 to 4, wherein the measurement of the nuclear spin component k3 of the second element along the third direction (3) is carried out in the following manner, namely: a linearly polarized first evaluation laser beam (103a) irradiates the vapor chamber (104) along the third direction (3), wherein the evaluation laser beam (103a) after irradiating the vapor chamber (104) irradiates a polarized beam splitter (301), and the beam splitter splits the first evaluation laser beam (103a) into a transmitted beam and a reflected beam, wherein a first and a second detector (302, 303) are provided so that the transmitted beam irradiates the first detector (302) and the reflected beam irradiates the second detector (303) and the signal difference is detected.

8. A method according to any one of claims 2 to 4, wherein the measurement of the nuclear spin component k2 of the second element along the second direction (2) is carried out in the following manner, namely: a linearly polarized second evaluation laser beam (103a) irradiates the vapor chamber (104) along the second direction (2), wherein the evaluation laser beam (103a) after irradiating the vapor chamber (104) is irradiated onto a polarized beam splitter (201), wherein the beam splitter splits the second evaluation laser beam (103a) into a transmitted beam and a reflected beam, wherein a third detector (202) and a fourth detector (203) are provided so that the transmitted beam is irradiated onto the third detector (202) and the reflected beam is irradiated onto the fourth detector (203), and the signal difference is detected.

9. An NMR gyroscope, the NMR gyroscope having the following components: a vapor chamber (104) containing a mixture of at least one first element in gaseous form and at least one second element in gaseous form having a non-zero nuclear spin, a pump laser (101) for polarizing the electron spins (11) of the first element, the pump laser being configured to polarize the electron spins (11) of the first element in the vapor chamber (104) along a first direction (1) by means of a pump laser beam (101a), - a magnetic field generator (501) for generating a static magnetic field along the direction of the polarization of the electron spins (11) of the first element; - a first alternating magnetic field generator (502) configured to generate a magnetic field in a second direction (2) perpendicular to the first direction (1) with a frequency corresponding to the Larmor frequency of the Larmor precession of the nuclear spins (12) of the second element around the static magnetic field (30); a measuring device configured to measure a nuclear spin component k2 of the second element along a second direction (2) and to measure a nuclear spin component k3 of the second element along a third direction (3) perpendicular to the first direction (1) and different from the second direction, - An evaluation unit, which is configured to determine, from the nuclear spin component k2 of the second element along the second direction (2) and the nuclear spin component k3 of the second element along the third direction (3), an directional change of a rotation with a rotation axis parallel to the first direction, an directional change of a rotation with a rotation axis parallel to the second direction, and an directional change of a rotation with a rotation axis parallel to the third direction.

10. The NMR gyroscope according to claim 9, wherein the first direction (1), the second direction (2) and the third direction (3) respectively have an angle of 90° with respect to each other.

11. The NMR gyroscope according to claim 10, further comprising a second alternating magnetic field generator (503) for applying a feedback magnetic field along a third direction (3), wherein the evaluation unit is configured to apply a feedback magnetic field B along the third direction (3) FB，3 , so that the offset of the nuclear spin component k3 of the second element along the third direction (3) becomes zero, so that it can be expressed by the relation To determine the directional change Ω3(t) of the rotation.

12. The NMR gyroscope according to claim 10 , wherein the evaluation unit is configured to apply a feedback magnetic field B in addition to the alternating magnetic field by means of the first alternating magnetic field generator ( 502 ) in the second direction ( 2 ). FB，2 , so that the offset of the nuclear spin component k2(t) along the second direction (2) becomes zero, so that through the relationship The directional change Ω2(t) of the rotation can be determined.

13. An NMR gyroscope according to any one of claims 10 to 11, wherein the evaluation unit further comprises a phase control loop device, which is configured to: determine a directional change Ω1(t) of a rotation having an axis of rotation parallel to the first direction (1) by compensating for a frequency shift of a nuclear spin component k2 of the second element along the second direction (2) and / or a frequency shift of a nuclear spin component k3 of the second element along a third direction (3) by changing the frequency of an alternating magnetic field applied along the second direction (2) such that the frequency of the applied alternating magnetic field corresponds to the measured frequency of the nuclear spin component k2(t) of the second element along the second direction (2) and / or the nuclear spin component k3(t) of the second element along the third direction (3).

14. The NMR gyroscope according to any one of claims 10 to 11, further comprising a first evaluation laser (103), which is used to irradiate the steam chamber (104) along a third direction (3) with the aid of a linearly polarized first evaluation laser beam (103a), wherein the evaluation laser beam (103a) after irradiating the steam chamber (104) is irradiated onto a polarized first beam splitter (301), wherein the first beam splitter splits the first evaluation laser beam (103a) into a transmitted beam and a reflected beam, wherein a first detector (302) and a second detector (303) are provided so that the transmitted beam is irradiated onto the first detector (302) and the reflected beam is irradiated onto the second detector (303).

15. The NMR gyroscope according to any one of claims 10 to 11, further comprising a second evaluation laser (102), which is used to irradiate the vapor chamber (104) along a second direction (2) with the aid of a linearly polarized second evaluation laser beam (102a), wherein the evaluation laser beam (102a) after irradiating the vapor chamber (104) is irradiated onto a polarized first beam splitter (201), which splits the second evaluation laser beam (102a) into a transmitted beam and a reflected beam, wherein a third detector (202) and a fourth detector (203) are provided so that the transmitted beam is irradiated onto the third detector (202) and the reflected beam is irradiated onto the fourth detector (203).

16. The NMR gyroscope according to claim 9, wherein: The NMR gyroscope is used to implement the method according to any one of claims 1 to 8.

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