In-situ calibration method for non-orthogonal angle magnetic field of SERF gyroscope with built-in magnetometer

Abstract

Based on the in-situ calibration method of non-orthogonal angles of the SERF gyroscope with its built-in magnetometer, a magnetic field of a certain magnitude is applied to the x-axis and y-axis by a signal generator coil while the pump light is turned off. The precession signal of electrons under the influence of the magnetic field is obtained. Finally, by reading the precession frequency of the electron precession signal, the magnitude of the applied resultant magnetic field is obtained. The angle between the x-axis and y-axis magnetic fields can be obtained using trigonometric functions. The same method can be used to obtain the angles between the x-axis and z-axis, and between the y-axis and z-axis. Without changing the equipment and structure of the SERF gyroscope device, the complete three-axis non-orthogonal angle calibration of the SERF gyroscope is achieved.

Description

Technical Field

[0001] This invention relates to the field of non-orthogonal angle calibration technology for SERF gyroscope magnetic fields, and in particular to an in-situ calibration method for non-orthogonal angles of SERF gyroscope magnetic fields based on a built-in magnetometer. This method can be used for in-situ calibration of the three-axis magnetic fields in a SERF gyroscope. A magnetic field of a certain magnitude is applied to the x-axis and y-axis by a signal generator coil, while the pump light is turned off. The precession signal of electrons under the action of the magnetic field is obtained. Finally, by reading the precession frequency of the electron precession signal in the magnetic field, the magnitude of the applied resultant magnetic field is obtained. The angle between the x-axis and y-axis magnetic fields can be obtained through trigonometric functions. Similarly, the angles between the x-axis and z-axis, and between the y-axis and z-axis, can be obtained. Background Technology

[0002] Spin-Exchange Relaxation-Free (SERF) based electronic spin gyroscopes possess extremely high theoretical angular velocity measurement sensitivity, reaching up to 10. -8° / s / Hz 1 / 2 The SERF gyroscope's magnitude far surpasses that of other types of gyroscopes. It not only possesses extremely high theoretical angular velocity measurement sensitivity but also offers advantages in terms of size and cost, making it a significant development direction for new inertial measurement technologies. Furthermore, the SERF gyroscope has wide applications in fundamental physics research, particularly in areas such as charge-parity-time symmetry breaking and the detection of anomalous interaction forces.

[0003] The research and development of SERF gyroscopes is of great significance in inertial navigation and the exploration of cutting-edge physics problems. Recent studies have shown that magnetic fields are the main factor limiting the further development of the accuracy of current spin gyroscopes, and the non-orthogonality of the three-axis magnetic fields is a non-negligible influencing factor. However, existing methods for calibrating the non-orthogonal angles of the three-axis magnetic fields are either complex to operate, requiring additional devices, or make certain assumptions, and cannot obtain complete and accurate information on the non-orthogonal angles of the three-axis magnetic fields. These limitations greatly restrict their application in SERF gyroscopes. For SERF gyroscopes that pursue long-term stability performance, how to achieve complete calibration of the non-orthogonal angles of the three-axis magnetic fields without changing the device has become an urgent problem to be solved. Summary of the Invention

[0004] The technical problem solved by this invention is to address the deficiencies or shortcomings of existing technologies by providing an in-situ calibration method for non-orthogonal angles of the magnetic field of a SERF gyroscope with a built-in magnetometer. This method involves applying a magnetic field of a certain magnitude along the x and y axes using a signal generator coil while simultaneously turning off the pump light, thus obtaining the precession signal of electrons under the influence of the magnetic field. Finally, by reading the precession frequency of the electron precession signal, the magnitude of the applied resultant magnetic field is obtained. The angle between the x and y axis magnetic fields can then be calculated using trigonometric relationships. The same method can be used to obtain the angles between the x and z axes, as well as between the y and z axes. This achieves complete three-axis non-orthogonal angle calibration of the SERF gyroscope without altering the device or structure.

[0005] The technical solution of the present invention is as follows:

[0006] The in-situ calibration method for non-orthogonal angle magnetic fields based on the SERF gyroscope with built-in magnetometer is characterized by the following steps:

[0007] Step 1: If the SERF atomic spin gyroscope is in working condition, apply a gradient coil to the z-axis to depolarize the inert gas nuclei. If the SERF atomic spin gyroscope is not powered on, proceed directly to Step 2.

[0008] Step 2: Turn off the gradient coil to make the device work in magnetometer mode;

[0009] Step 3: Apply a magnetic field Bx to the x-axis through the signal generator coil, and simultaneously turn off the pump light to obtain the precession signal S(t) of alkali metal electrons under the action of magnetic field Bx;

[0010] Step 4: Read the precession frequency ω of the alkali metal electrons in the magnetic field Bx. Bx The slowdown factor Q is obtained;

[0011] Step 5: Apply a magnetic field Bx1 to the x-axis and By1 to the y-axis through the signal generator coil, while turning off the pump light, to obtain the precession signal of alkali metal electrons under the action of the magnetic field;

[0012] Step 6: Obtain the applied resultant magnetic field B by reading the precession frequency ω of the alkali metal electrons in the magnetic field. xy B xy It is the vector sum of the x-axis magnetic field Bx1 and the y-axis magnetic field By1. The angle θ between the x-axis and y-axis magnetic fields can be calculated using trigonometric functions. xy ;

[0013] Step 7, similar to steps 5 and 6, applies a magnetic field Bx2 along the x-axis and a magnetic field Bz2 along the z-axis to obtain the angle θ between the magnetic fields along the x-axis and z-axis. xzBy applying a magnetic field By3 along the y-axis and a magnetic field Bz3 along the z-axis, the angle θ between the magnetic fields along the y-axis and z-axis is obtained. yz .

[0014] Step 1 includes: heating the alkali metal gas cell of the SERF gyroscope to the operating temperature, fixing the SERF electronic spin gyroscope in a stationary state in inertial space; applying a magnetic field gradient of 2000 nT / cm on the z-axis through a signal generator to rapidly depolarize the inert gas nuclei.

[0015] Step 2 includes: turning off the gradient coil and compensating for the residual magnetism of the triaxial magnetic shielding cylinder by modulation. At this time, the device works in a zero-field state, forming a high-precision SERF electronic magnetometer, so that the alkali metal electrons are sensitive to the external magnetic field and generate Larmor precession.

[0016] Step 3 includes: Where t is time, S0 is the initial value of the signal, e is the natural constant, and r is the signal strength. rel Let ω be the relaxation rate of alkali metal electrons, and ω be the precession frequency of alkali metal electrons under the influence of a magnetic field. For phase.

[0017] Step 4 includes: ω Bx pass The fitted Q is obtained using the following formula:

[0018]

[0019] Where γ e =28nT / Hz, γ e Let B be the electron gyromagnetic ratio of the alkali metal, B be the applied magnetic field, and ω be the magnetotropic ratio of the metal. Bx replace.

[0020] B in step 6 xy It is obtained through the following formula:

[0021]

[0022] B is B xy Replace; then obtain θ using the following formula. xy :

[0023]

[0024] θ xy =π-θ 1xy

[0025] Where θ 1xy It is θ xy The supplementary angle.

[0026] θ in step 7xz It is obtained through the following formula:

[0027]

[0028] θ xz =π-θ 1xz

[0029] Where θ 1xz It is θ xz The supplementary angle.

[0030] θ in step 7 yz It is obtained through the following formula:

[0031]

[0032] θ yz =π-θ 1yz

[0033] Where θ 1yz It is θ yz The supplementary angle.

[0034] The technical advantages of this invention are as follows: This invention is based on the in-situ calibration method for non-orthogonal angles of the magnetic field of a SERF gyroscope with a built-in magnetometer. A magnetic field of a certain magnitude is applied to the x-axis and y-axis by a signal generator coil while the pump light is turned off. This obtains the precession signal of electrons under the influence of the magnetic field. Finally, by reading the precession frequency of the electron precession signal in the magnetic field, the magnitude of the applied resultant magnetic field is obtained. The angle between the x-axis and y-axis magnetic fields can then be obtained using trigonometric relationships. The same method can be used to obtain the angles between the x-axis and z-axis, and between the y-axis and z-axis. This method overcomes the shortcomings of previous calibration methods, enabling complete measurement of non-orthogonal angles of the three-axis magnetic fields without altering the SERF electron spin gyroscope device and structure, and without making any orthogonality assumptions, using its built-in scalar magnetometer. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating the implementation of the in-situ calibration method for non-orthogonal angles of the magnetic field based on the SERF gyroscope with built-in magnetometer of the present invention. Figure 1 The process includes step 1: if the SERF atomic spin gyroscope is in operation, a gradient coil is applied to the z-axis to depolarize the inert gas nucleons; if the SERF atomic spin gyroscope is not powered on, proceed directly to step 2. Step 2: the gradient coil is turned off, and the device operates in magnetometer mode. Step 3: a magnetic field (Bx) of a certain magnitude is applied to the x-axis through the signal generator coil, while the pump light is turned off, to obtain the precession signal (S(t)) of alkali metal electrons under the influence of the magnetic field (Bx). Step 4: the precession frequency (ωt) of the alkali metal electrons in the magnetic field (Bx) is read. BxStep 5: Apply a magnetic field (Bx1, By1) of a certain magnitude to the x-axis and y-axis through the signal generator's operating coil, while simultaneously turning off the pump light, to obtain the precession signal of alkali metal electrons under the influence of the magnetic field; Step 6: Obtain the magnitude of the applied resultant magnetic field (Bx1, By1) by reading the precession frequency (ω) of the alkali metal electron precession signal in the magnetic field. xy The vector sum of the x-axis magnetic field Bx1 and the y-axis magnetic field By1 is used to calculate the angle (θ) between the x-axis and y-axis magnetic fields using trigonometric functions. xy Step 7: Change the direction of the applied magnetic field (apply Bx2 and Bz2, or By3 and Bz3), and repeat steps 5 to 6. Similarly, obtain the angle between the magnetic fields along the x-axis and z-axis, and between the y-axis and z-axis (θ). xz and θ yz ).

[0036] Figure 2 This is a graph showing trigonometric functions of non-orthogonal angles of the magnetic field (taking the x-axis and y-axis as examples). Figure 2 Includes the applied magnetic field B in the x-axis and y-axis directions. x1 and B y1 And the combined magnetic field B of the two xy (The vector sum of the x-axis magnetic field Bx1 and the y-axis magnetic field By1), the angle θ between the x-axis and y-axis magnetic fields. xy and its supplementary angle θ 1xy By using trigonometric functions to obtain the resultant magnetic field B, the angle θ between the magnetic fields can be calculated. xy . Detailed Implementation

[0037] The following is in conjunction with the attached diagram ( Figures 1-2 The invention will be described in the following sections and examples.

[0038] Figure 1 This is a flowchart illustrating the implementation of the in-situ calibration method for non-orthogonal angles of the magnetic field based on the SERF gyroscope with built-in magnetometer of the present invention. Figure 2 This is a graph showing trigonometric functions of non-orthogonal angles of magnetic fields (using the x and y axes as examples; similarly, the x and z axes, or y and z axes, can be used as examples). Reference. Figures 1 to 2 As shown, the in-situ calibration method for the non-orthogonal angle magnetic field of the SERF gyroscope with built-in magnetometer includes the following steps: Step 1, if the SERF atomic spin gyroscope is in working state, apply a gradient coil to the z-axis to depolarize the inert gas nucleons; if the SERF atomic spin gyroscope is not powered on, proceed directly to Step 2; Step 2, turn off the gradient coil to make the device work in magnetometer state; Step 3, apply a magnetic field Bx to the x-axis through the signal generator coil, while turning off the pump light, to obtain the precession signal S(t) of alkali metal electrons under the action of magnetic field Bx; Step 4, read the precession frequency ω of the precession signal of alkali metal electrons in magnetic field Bx.Bx Step 5: Apply a magnetic field Bx1 along the x-axis and a magnetic field By1 along the y-axis using the signal generator's operating coil, while simultaneously turning off the pump light, to obtain the precession signal of alkali metal electrons under the influence of the magnetic field; Step 6: Obtain the applied resultant magnetic field B by reading the precession frequency ω of the alkali metal electron precession signal in the magnetic field. xy B xy It is the vector sum of the x-axis magnetic field Bx1 and the y-axis magnetic field By1. The angle θ between the x-axis and y-axis magnetic fields can be calculated using trigonometric functions. xy Step 7, similar to steps 5 and 6, applies a magnetic field Bx2 along the x-axis and a magnetic field Bz2 along the z-axis to obtain the angle θ between the magnetic fields along the x-axis and z-axis. xz By applying a magnetic field By3 along the y-axis and a magnetic field Bz3 along the z-axis, the angle θ between the magnetic fields along the y-axis and z-axis is obtained. yz .

[0039] Step 1 includes: heating the alkali metal gas chamber of the SERF gyroscope to its operating temperature, fixing the SERF electronic spin gyroscope in a stationary state in inertial space; applying a magnetic field gradient of 2000 nT / cm along the z-axis to the gradient coil via a signal generator, causing the inert gas nucleons to rapidly depolarize. Step 2 includes: shutting off the gradient coil, compensating for the residual magnetism of the triaxial magnetic shielding cylinder using a modulation method, at which point the device operates in a zero-field state, forming a high-precision SERF electronic magnetometer, so that the alkali metal electrons are sensitive to the applied magnetic field and generate Larmor precession. Step 3 includes: Where t is time, S0 is the initial value of the signal, e is the natural constant, and R... rel Let ω be the relaxation rate of alkali metal electrons, and ω be the precession frequency of alkali metal electrons under the influence of a magnetic field. For phase.

[0040] Step 4 includes: ω Bx pass The fitted Q is obtained using the following formula:

[0041]

[0042] Where γ e =28nT / Hz, γ e Let B be the electron gyromagnetic ratio of the alkali metal, B be the applied magnetic field, and ω be the magnetotropic ratio of the metal. Bx Replacement. B in step 6. xy It is obtained through the following formula:

[0043]

[0044] B is B xy Replace; then obtain θ using the following formula. xy :

[0045]

[0046] θ xy =π-θ 1xy

[0047] Where θ 1xy It is θ xy The supplementary angle.

[0048] θ in step 7 xz It is obtained through the following formula:

[0049]

[0050] θ xz =π-θ 1xz

[0051] Where θ 1xz It is θ xz The supplementary angle.

[0052] θ in step 7 yz It is obtained through the following formula:

[0053]

[0054] θ yz =π-θ 1yz

[0055] Where θ 1yz It is θ yz The supplementary angle.

[0056] The SERF gyroscope magnetic field non-orthogonal angle in-situ calibration method based on the built-in magnetometer is characterized by the following steps:

[0057] If the SERF atomic spin gyroscope is not powered on, proceed directly to step 2. If the SERF atomic spin gyroscope is operational, start from step 1.

[0058] Step 1: Apply a gradient coil along the z-axis to rapidly depolarize the inert gas nuclei;

[0059] Step 2: Turn off the gradient coil to make the device work in magnetometer mode;

[0060] Step 3: Apply a magnetic field of a certain magnitude to the x-axis through the signal generator's coil, while simultaneously turning off the pump light, to obtain the precession signal of alkali metal electrons under the influence of the magnetic field;

[0061] Step 4: Obtain the magnitude of the slowing factor by reading the precession frequency of the alkali metal electrons in the magnetic field;

[0062] Step 5: Apply a magnetic field of a certain magnitude to the x-axis and y-axis through the signal generator's action coil, while simultaneously turning off the pump light, to obtain the precession signal of alkali metal electrons under the action of the magnetic field;

[0063] Step 6: By reading the precession frequency of the alkali metal electrons in the magnetic field, the magnitude of the applied resultant magnetic field is obtained. The angle between the magnetic fields along the x-axis and y-axis is calculated using trigonometric functions.

[0064] Step 7: Change the direction of the applied magnetic field and repeat steps 5-6 to obtain the angle between the magnetic fields along the x-axis and z-axis, as well as the angle between the magnetic fields along the y-axis and z-axis.

[0065] Step 1 includes: heating the alkali metal gas cell of the SERF gyroscope to the operating temperature, fixing the SERF electronic spin gyroscope in a stationary state in inertial space; applying a magnetic field gradient of 2000 nT / cm on the z-axis through a signal generator to rapidly depolarize the inert gas nuclei.

[0066] Step 2 includes: turning off the gradient coil and compensating for the residual magnetism of the triaxial magnetic shielding cylinder by modulation. At this time, the device works in a zero-field state, forming a high-precision SERF electronic magnetometer. Alkali metal electrons will be sensitive to the external magnetic field and generate Larmor precession.

[0067] Step 3 includes: applying a signal generator to the x-axis coil, and applying a magnitude of B along the x-axis. x A DC magnetic field is applied, and the pump light is simultaneously turned off. At this time, alkali metal electrons are in B. x Larmor precession occurs under the influence of a DC magnetic field.

[0068] Step 4 includes: based on the electrons of alkali metals in B x The precession signal under a DC magnetic field was fitted to obtain the precession frequency ω of alkali metal electrons. Bx The slowing factor Q can be obtained from the Larmor precession formula of alkali metal electrons under the action of a DC magnetic field.

[0069] Step 5 includes: removing the magnetic field, turning on the pump light, and restoring the device to its original state as in step 2; applying a signal generator to the x-axis and y-axis coils, respectively, with a magnitude of B. x1 and B y1 The magnetic field is activated, and the pump light is simultaneously turned off. At this time, alkali metal electrons are in B. x1 and B y1 The two magnetic fields together cause Larmor precession.

[0070] Step 6 includes: based on the electrons of alkali metals in B x1 and B y1 The precession signal under the combined magnetic field of the two is fitted to obtain the precession frequency ω of the alkali metal electrons.xy Based on the Larmor precession formula for alkali metal electrons under a DC magnetic field and the slowing factor Q obtained in step 4, B can be obtained. x1 and B y1 The magnitude of the combined magnetic field B formed by the two xy Then, the angle between the magnetic fields along the x-axis and y-axis can be obtained using trigonometric function formulas.

[0071] Step 7 includes: removing the magnetic field, turning on the pump light, changing the direction of the applied magnetic field, and repeating steps 5-6 to obtain the angle information between the y-axis and z-axis magnetic fields and the x-axis and z-axis magnetic fields.

[0072] Based on the in-situ calibration method for the non-orthogonal angles of the magnetic field of a SERF gyroscope with a built-in magnetometer, this method first depolarizes the SERF gyroscope to operate in magnetometer mode. Then, a magnetic field of a certain magnitude is applied to the x-axis and y-axis through the coil of a signal generator, while the pump light is turned off, to obtain the precession signal of electrons under the influence of the magnetic field. Finally, by reading the precession frequency of the electron precession signal in the magnetic field, the magnitude of the applied resultant magnetic field (the vector sum of the x-axis and y-axis magnetic fields) is obtained. The angle between the x-axis and y-axis magnetic fields can be obtained through trigonometric functions. The same method can be used to obtain the angles between the x-axis and z-axis, and between the y-axis and z-axis. This invention can achieve real-time, non-destructive, in-situ, complete, and accurate calibration of the non-orthogonal angles of the three-axis magnetic fields of a SERF gyroscope.

[0073] The specific implementation steps of this invention based on the in-situ calibration method for the non-orthogonal angle of the magnetic field of the SERF gyroscope with built-in magnetometer are as follows:

[0074] Step 1: Heat the alkali metal gas cell of the SERF gyroscope to the operating temperature and fix the SERF gyroscope in a stationary state in inertial space; apply a magnetic field gradient of 2000 nT / cm on the z-axis through the signal generator to the gradient coil, so that the inert gas nuclei are rapidly depolarized.

[0075] Step 2: Turn off the gradient coil and compensate for the residual magnetism of the triaxial magnetic shielding cylinder using the modulation method. At this time, the device operates in a zero-field state, forming a high-precision SERF magnetometer. Alkali metal electrons will be sensitive to the applied magnetic field and undergo Larmor precession, which satisfies the Larmor precession frequency formula:

[0076]

[0077] Where ω is the Larmor precession frequency of alkali metal electrons under the influence of a magnetic field, and γ e =28nT / Hz is the gyromagnetic ratio of alkali metal electrons, B is the magnitude of the applied magnetic field, and Q is the slowing factor of alkali metal electrons.

[0078] Step 3: Apply a signal generator to the x-axis coil, applying a magnitude of B along the x-axis. x A DC magnetic field is applied, and the pump light is simultaneously turned off. At this time, alkali metal electrons are in B. x Larmor precession occurs under the influence of a DC magnetic field.

[0079] Step 4, based on the electrons of alkali metals in B x The precession signal S(t) under the action of a DC magnetic field satisfies

[0080]

[0081] Where t is time, S0 is the initial value of the signal, e is the natural constant, and R rel Let ω be the relaxation rate of alkali metal electrons, and ω be the precession frequency of alkali metal electrons under the influence of a magnetic field. The phase is given. The precession frequency ω of the alkali metal electrons is obtained by fitting equation (2). Bx Then, the slowdown factor Q can be calculated according to equation (1). Since the power and temperature are not changed during the operation, Q is a constant.

[0082] Step 5: Remove the magnetic field, turn on the pump light, and restore the device to its original state as in Step 2; apply a signal generator to the x-axis and y-axis coils, respectively, with a magnitude of B. x1 and B y1 The magnetic field is activated, and the pump light is simultaneously turned off. At this time, alkali metal electrons are in B. x1 and B y1 The two magnetic fields together cause Larmor precession.

[0083] Step 6, based on the electrons of alkali metals in B x1 and B y1 The precession signal under the combined magnetic field of the two is fitted by equation (2) to obtain the precession frequency ω of the alkali metal electrons. Then, according to equation (1) and the slowing factor Q obtained in step 4, B can be obtained. x1 and B y1 The magnitude of the combined magnetic field B formed by the two xy Then, according to the trigonometric function formulas, we can obtain...

[0084]

[0085] Finally, the angle θ between the magnetic fields along the x-axis and y-axis is obtained. xy It can be represented as

[0086] θ xy =π-θ 1xy (4)

[0087] Step 7: Remove the magnetic field, turn on the pump light, change the direction of the applied magnetic field, and repeat steps 5-6 to obtain the angle θ between the y-axis and z-axis magnetic fields. yz It can be represented as

[0088] θ yz =π-θ 1yz (5)

[0089] Where, θ 1yz Satisfy the equation

[0090]

[0091] The angle θ between the magnetic fields along the x-axis and z-axis xz It can be represented as

[0092] θ xz =π-θ 1xz (7)

[0093] Where, θ xz Satisfy the equation

[0094]

[0095] Contents not described in detail in this specification are prior art known to those skilled in the art. It is hereby indicated that the above description is intended to help those skilled in the art understand this invention, but does not limit the scope of protection of this invention. Any equivalent substitutions, modifications, improvements, and / or simplifications of the above descriptions that do not depart from the essential content of this invention fall within the scope of protection of this invention.

Claims

1. A method for in-situ calibration of non-orthogonal angle magnetic fields based on a SERF gyroscope with an integrated magnetometer, characterized in that... Includes the following steps: Step 1: If the SERF atomic spin gyroscope is in working condition, apply a gradient coil to the z-axis to depolarize the inert gas nuclei. If the SERF atomic spin gyroscope is not powered on, proceed directly to Step 2. Step 2: Turn off the gradient coil to make the device work in magnetometer mode; Step 3: Apply a magnetic field Bx to the x-axis through the signal generator coil, and simultaneously turn off the pump light to obtain the precession signal S(t) of alkali metal electrons under the action of magnetic field Bx; Step 4: Read the precession frequency ω of the alkali metal electrons in the magnetic field Bx. Bx The slowdown factor Q is obtained; Step 5: Apply a magnetic field Bx1 to the x-axis and By1 to the y-axis through the signal generator coil, while turning off the pump light, to obtain the precession signal of alkali metal electrons under the action of the magnetic field; Step 6: Obtain the applied resultant magnetic field B by reading the precession frequency ω of the alkali metal electrons in the magnetic field. xy B xy It is the vector sum of the x-axis magnetic field Bx1 and the y-axis magnetic field By1. The angle θ between the x-axis and y-axis magnetic fields can be calculated using trigonometric functions. xy ; Step 7, similar to steps 5 and 6, applies a magnetic field Bx2 along the x-axis and a magnetic field Bz2 along the z-axis to obtain the angle θ between the magnetic fields along the x-axis and z-axis. xz By applying a magnetic field By3 along the y-axis and a magnetic field Bz3 along the z-axis, the angle θ between the magnetic fields along the y-axis and z-axis is obtained. yz .

2. The in-situ calibration method for non-orthogonal angle magnetic fields based on a SERF gyroscope with an embedded magnetometer according to claim 1, characterized in that, Step 1 includes: heating the alkali metal gas cell of the SERF gyroscope to the operating temperature, fixing the SERF electronic spin gyroscope in a stationary state in inertial space; applying a magnetic field gradient of 2000 nT / cm on the z-axis through a signal generator to rapidly depolarize the inert gas nuclei.

3. The in-situ calibration method for non-orthogonal angle magnetic fields based on a SERF gyroscope with an embedded magnetometer according to claim 1, characterized in that, Step 2 includes: turning off the gradient coil and compensating for the residual magnetism of the triaxial magnetic shielding cylinder by modulation. At this time, the device works in a zero-field state, forming a high-precision SERF electronic magnetometer, so that the alkali metal electrons are sensitive to the external magnetic field and generate Larmor precession.

4. The in-situ calibration method for non-orthogonal angle magnetic fields based on a SERF gyroscope with an embedded magnetometer according to claim 1, characterized in that, Step 3 includes: Where t is time, S0 is the initial value of the signal, e is the natural constant, and R... rel Let ω be the relaxation rate of alkali metal electrons, and ω be the precession frequency of alkali metal electrons under the influence of a magnetic field. For phase.

5. The in-situ calibration method for non-orthogonal angle magnetic fields based on a SERF gyroscope with an embedded magnetometer according to claim 1, characterized in that, Step 4 includes: ω Bx pass The fitted Q is obtained using the following formula: Where γ e =28nT / Hz, γ e Let B be the electron gyromagnetic ratio of the alkali metal, B be the applied magnetic field, and ω be the magnetotropic ratio of the metal. Bx replace.

6. The in-situ calibration method for non-orthogonal angle magnetic fields based on a SERF gyroscope with an embedded magnetometer according to claim 5, characterized in that, B in step 6 xy It is obtained through the following formula: B is B xy Replace; then obtain θ using the following formula. xy : i xy =π-θ 1xy Where θ 1xy It is θ xy The supplementary angle.

7. The in-situ calibration method for non-orthogonal angle magnetic fields based on a SERF gyroscope with an embedded magnetometer according to claim 6, characterized in that, θ in step 7 xz It is obtained through the following formula: i xz =π-θ 1xz Where θ 1xz It is θ xz The supplementary angle.

8. The in-situ calibration method for non-orthogonal angle magnetic fields based on a SERF gyroscope with an embedded magnetometer according to claim 6, characterized in that, θ in step 7 yz It is obtained through the following formula: i yz =π-θ 1yz Where θ 1yz It is θ yz The supplementary angle.

Images