A three-dimensional gyroscope based on atomic interferometry and laser interferometry

Abstract

The present invention discloses a three-dimensional gyroscope based on atomic interferometry and laser interferometry, which belongs to the field of inertial measurement technology. It includes: an atomic interferometry gyroscope, a laser interferometry gyroscope and a data joint solution module; the data joint solution module uses the tilt angle θ measured by the atomic interferometry gyroscope to calculate the value of the tilt angle θ. Z The effect of tilt noise on the rotational velocity measured by the laser interferometer gyroscope is deducted. The high accuracy of the rotational velocity measured by the atomic interferometer gyroscope is also utilized to perform a scale factor correction on the rotational velocity measured by the laser interferometer gyroscope. The bias caused by the area measurement error in the scale factor is deducted. The corrected rotational velocity is then vector-synthesized with the rotational velocity measured by the atomic interferometer gyroscope to obtain an absolute three-dimensional rotational velocity vector. The three-dimensional gyroscope based on atomic and laser interferometers of the present invention has a large bandwidth, high sensitivity, high zero-bias stability, and is capable of achieving absolute rotational speed measurement.

Description

Technical Field

[0001] The present invention belongs to the technical field of inertial measurement, and more specifically, relates to a three-dimensional gyroscope based on atomic interferometry and laser interferometry. Background Art

[0002] Rotation is one of the fundamental modes of motion, and rotation measurement is crucial in inertial navigation, geophysics, and fundamental physics. Gyroscopes are instruments used to measure rotation. Traditional gyroscopes have a long history and are widely used in inertial navigation. However, due to their inherent operating principles, they are inevitably affected by effects such as friction and imperfections in device manufacturing, which limit their resolution.

[0003] Since the discovery of the Sagnac effect by French scientists over a century ago, lasers have been introduced to the field of rotation measurement. Unlike traditional measurement techniques, optical gyroscopes are based on the invariance of the speed of light in a rotating frame. This principle directly embeds frame rotation information into the phase information of photons, significantly improving the gyroscope's accuracy and reliability.

[0004] Because atoms have the wave-particle duality characteristic, the Sagnac effect using atomic interference can also be used for rotation measurement. Since matter waves have longer wavelengths, atomic interferometer gyroscopes have higher theoretical accuracy and great development potential. However, existing atomic interferometer gyroscopes can generally only measure rotational speed in one or two dimensions. For example, patent publication number CN110686663A discloses an atomic interferometer gyroscope with two degrees of freedom, while patent publication number CN111780738A discloses a passive laser gyroscope based on phase-sensitive heterodyne measurement with one degree of freedom.

[0005] For multi-dimensional rotational speed measurement, the more mature existing solutions include three-dimensional electrostatic gyroscopes, three-dimensional fiber optic gyroscopes, and three-dimensional laser gyroscopes. These all utilize an orthogonal arrangement of three identical gyroscopes to measure rotational vector information. Some gyroscopes, such as large three-dimensional laser gyroscopes, are arranged redundantly. However, these three-dimensional rotational speed measurement solutions all suffer from the difficulty of further improving rotational speed resolution, resulting in low bias stability and the inability to achieve three-dimensional absolute rotational speed measurement. Summary of the Invention

[0006] In response to the defects of the existing technology and the need for improvement, the present invention provides a three-dimensional gyroscope based on atomic interferometry and laser interferometry, the purpose of which is to provide a three-dimensional gyroscope with high zero-bias stability, and further to achieve high-precision measurement of three-dimensional absolute rotational speed.

[0007] To achieve the above objectives, according to one aspect of the present invention, a three-dimensional gyroscope based on atomic interferometry and laser interferometry is provided, comprising:

[0008] An atomic interferometer gyroscope, a laser interferometer gyroscope, and a data joint solution module; the sensitive axis of the atomic interferometer gyroscope and the sensitive axis of the laser interferometer gyroscope are perpendicular to each other and intersect at one point, thereby forming a Cartesian coordinate system;

[0009] The atomic interferometer gyroscope is used to measure the rotation speed felt in the direction of its sensitive axis and to measure the local ground tilt angle θ Z ;

[0010] The laser interferometer gyroscope is used to measure the rotation speed felt in the direction of its sensitive axis;

[0011] The data joint solution module includes a tilt noise correction unit and a vector synthesis unit;

[0012] The tilt noise correction unit is configured to use the tilt angle θ Z Correcting the angle between the rotation speed measured by the laser interferometer gyroscope and its sensitive axis to obtain the rotation speed after deducting the tilt noise;

[0013] The vector synthesis unit is used to perform vector synthesis on the rotation speed measured by the atomic interferometer gyroscope and the rotation speed after the tilt noise is deducted, so as to obtain a relative rotation speed vector.

[0014] Furthermore, the data joint solution module further includes a scale factor calibration unit;

[0015] The scale factor calibration unit is used to correct the scale factor of the rotation speed after the tilt noise is deducted according to the rotation speed measured by the atomic interferometer gyroscope to obtain a calibrated rotation speed;

[0016] The vector synthesis unit is further used to perform vector synthesis on the rotation speed measured by the atomic interferometer gyroscope and the calibrated rotation speed to obtain an absolute rotation speed vector.

[0017] Furthermore, the tilt noise is:

[0018] θ Z Ω E sinθ

[0019] Among them, θ is the co-latitude of the region, Ω E Represents the Earth's rotation speed.

[0020] Furthermore, the process of the scale factor calibration unit correcting the scale factor of the rotation speed after the tilt noise is subtracted according to the rotation speed measured by the atomic interferometer gyroscope includes:

[0021] The bias value is designed with the goal of making the variance of the difference between the calibrated rotational speed and the rotational speed measured by the atomic interferometer gyroscope approach zero;

[0022] The offset value is superimposed on the rotation speed after the tilt noise is subtracted to obtain the calibrated rotation speed.

[0023] Furthermore, the atomic interferometer gyroscope and the laser interferometer gyroscope are both one;

[0024] The atomic interference gyroscope includes two sensitive axes, which are perpendicular to each other and parallel to the horizontal plane. The laser interferometer gyroscope includes one sensitive axis, which is perpendicular to the horizontal plane.

[0025] Furthermore, there is one atomic interferometer gyroscope and two laser interferometer gyroscopes;

[0026] The atomic interferometer gyroscope includes a sensitive axis, and each of the laser interferometer gyroscopes includes a sensitive axis.

[0027] Furthermore, the data joint solution module further includes a coordinate system transformation unit for transforming the rotation speed measured by the atomic interferometer gyroscope and the calibrated rotation speed into a corresponding rotation speed in a spherical center coordinate system;

[0028] The vector synthesis unit is further used to perform vector synthesis on the corresponding rotational speeds to obtain the absolute rotational speed vector of the earth.

[0029] Furthermore, the atomic interferometer gyroscope includes an atom preparation module, an atom interference module, an atom detection module and a first laser light source module;

[0030] The atom preparation module is used to prepare magnetically insensitive atomic clusters, and then throw the cooled and trapped atomic clusters upward to the atom interference module;

[0031] The atom interference module is used to split, reflect, and combine the atom clusters under the action of the laser light generated by the first laser light source module, so that the atoms interfere with each other after passing through different paths and fall to the atom detection module;

[0032] The atom detection module is used to detect the number of preset momentum states of the interfering atomic group in the corresponding direction and extract the rotation speed in the corresponding direction.

[0033] Furthermore, the laser interferometer gyroscope includes a second laser light source module, a ring cavity laser interferometer module and a beat frequency detection module;

[0034] The second laser light source module is used to generate two laser beams outside or inside the ring cavity laser interference module;

[0035] The ring cavity laser interference module is used to provide a high-Q vacuum resonance environment to enable the two laser beams to interfere and resonate in the ring cavity to generate two beams of transmitted light;

[0036] The beat frequency detection module is used to combine the two transmitted light beams, and then perform beat frequency on the combined laser beams to obtain the frequency difference between the two laser beams, so as to extract the rotation speed in the sensitive axis direction.

[0037] According to a second aspect of the present invention, a three-dimensional rotational velocity measurement method based on atomic interferometry and laser interferometry is provided, comprising an atomic interferometer gyroscope and a laser interferometer gyroscope, wherein the sensitive axes of the atomic interferometer gyroscope and the laser interferometer gyroscope are perpendicular to each other and intersect at a point, thereby forming a Cartesian coordinate system. The three-dimensional rotational velocity measurement method comprises the following steps:

[0038] The atomic interferometer gyroscope measures the rotation speed felt in the direction of its sensitive axis and measures the local ground tilt angle θ Z ;

[0039] The laser interferometer gyroscope measures the rotation speed sensed in the direction of its sensitive axis;

[0040] Using the tilt angle θ Z Correcting the angle between the rotation speed measured by the laser interferometer gyroscope and its sensitive axis to obtain the rotation speed after deducting the tilt noise;

[0041] Performing vector synthesis of the rotational velocity measured by the atomic interferometer gyroscope and the rotational velocity after deducting the tilt noise to obtain a relative rotational velocity vector;

[0042] or / and also include the steps of:

[0043] Correcting a scale factor of the rotational speed after tilt noise subtraction according to the rotational speed measured by the atomic interferometer gyroscope to obtain a calibrated rotational speed;

[0044] The rotation speed measured by the atomic interferometer gyroscope is vector-synthesized with the calibrated rotation speed to obtain an absolute rotation speed vector.

[0045] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

[0046] (1) The three-dimensional gyroscope based on atomic interferometry and laser interferometry provided by the present invention measures the tilt angle θ by using the atomic interferometry gyroscope. ZThe angle between the rotation speed measured by the laser interferometer gyroscope and its sensitive axis is tilt-corrected, and the influence of the tilt noise on the rotation speed measured by the laser interferometer gyroscope is deducted to obtain the rotation speed after the tilt noise is deducted. The rotation speed after the tilt noise is deducted and the rotation speed measured by the atomic interferometer gyroscope are vector-summed. According to the number of atomic interferometer gyroscopes and laser interferometer gyroscopes and the number of sensitive axes used, a two-dimensional or three-dimensional relative rotation speed vector with high zero-bias stability is obtained.

[0047] (2) Furthermore, since the interference area in the scale factor of the laser interferometer gyroscope is difficult to measure accurately, the present invention measures a physical quantity jointly by an atomic interferometer gyroscope and a laser interferometer gyroscope, and uses the high accuracy of the rotation speed measured by the atomic interferometer gyroscope to correct the rotation speed measured by the laser interferometer gyroscope for the scale factor, deducts the bias caused by the area measurement error in the scale factor, and converts the rotation speed after the tilt noise correction into an accurate absolute rotation speed. Based on the number of atomic interferometer gyroscopes and laser interferometer gyroscopes and the number of sensitive axes used, high-precision measurement of the three-dimensional or two-dimensional absolute rotation speed vector is achieved.

[0048] (3) Furthermore, the rotational velocity measured by the atomic interferometer gyroscope and the calibrated rotational velocity are converted into the corresponding rotational velocity in the spherical center coordinate system through a coordinate system transformation unit, and the absolute rotational velocity vector of the earth can be measured.

[0049] (4) At the same time, the gyroscope of the present invention can obtain two-dimensional or three-dimensional relative rotation speed with high zero-bias stability and high-precision absolute rotation speed, while retaining the advantages of large bandwidth and high short-term sensitivity of the laser gyroscope. It is a three-dimensional gyroscope with large bandwidth, high sensitivity, high zero-bias stability, and the ability to achieve absolute rotation speed measurement.

[0050] In summary, the three-dimensional gyroscope based on atomic interference and laser interference of the present invention utilizes the combination of atomic interference and optical interference for rotation detection. Through the designed data joint solution module, the advantages of the Sagnac effect of optical interference and the Sagnac effect of matter wave interference are combined to achieve simultaneous measurement of three-dimensional rotational speed, high rotational speed resolution, and huge development potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 Shown is a schematic structural diagram of a three-dimensional gyroscope proposed by the present invention.

[0052] Figure 2 Shown is a three-dimensional schematic diagram of a three-dimensional gyroscope proposed by the present invention.

[0053] Figure 3 Shown is a schematic structural diagram of the atomic interferometer gyroscope in the present invention.

[0054] Figure 4 Shown is a working schematic diagram of the atomic interferometer gyroscope in the present invention.

[0055] Figure 5 Shown is a schematic diagram of the first structure of the laser interferometer gyroscope in the present invention.

[0056] Figure 6 Shown is a second structural schematic diagram of the laser interferometer gyroscope in the present invention.

[0057] Figure 7 The figure shows the working diagram of the first structure of the laser interferometer gyroscope in the present invention.

[0058] Figure 8 The figure shows the working diagram of the second structure of the laser interferometer gyroscope in the present invention.

[0059] Figure 9 Shown is the workflow diagram of the data joint solution module in the present invention.

[0060] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0061] 100 - atom interferometer gyroscope, 101 - atom preparation module, 102 - atom interference module, 103 - atom detection module, 104 - first laser light source module, 105-110 are lasers;

[0062] 200 - laser interferometer gyroscope, 202 - ring cavity laser interferometer module, 203 - beat frequency detection module, 201 - extra-cavity laser generation module, 209 - laser gain medium module, 240 and 205 are lasers, 206 and 207 are transmitted light, 208 - combined beam;

[0063] 300 - data joint solution module, 301 - tilt noise correction unit, 304 - vector synthesis unit, 302 - scale factor calibration unit, 303 - coordinate system transformation unit. DETAILED DESCRIPTION

[0064] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0065] In the present invention, the terms "first", "second", etc. in the present invention and the accompanying drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0066] like Figure 1-2 As shown, the three-dimensional gyroscope based on atomic interferometry and laser interferometry of the present invention mainly includes: an atomic interferometer gyroscope 100, a laser interferometer gyroscope 200 and a data joint solution module 300;

[0067] The sensitive axis of the atomic interferometer gyroscope 100 and the sensitive axis of the laser interferometer gyroscope 200 are perpendicular to each other and intersect at one point, forming a Cartesian coordinate system;

[0068] The atomic interferometer gyroscope 100 includes a gyroscope detection mode and an inclinometer detection mode. In the gyroscope detection mode, the atomic interferometer gyroscope is used to measure the rotation speed felt in the direction of its sensitive axis. In the inclinometer detection mode, the atomic interferometer gyroscope is transformed into an inclinometer to measure the local ground tilt angle θ. Z It should be noted that the atomic interferometer gyroscope used in the present invention has two detection modes. In practical applications, the atomic interferometer gyroscope with two working modes can be directly used, or the two detection modes can be realized by adding corresponding physical devices and corresponding data analysis methods.

[0069] The laser interferometer gyroscope 200 is used to measure the rotation speed sensed in the direction of its sensitive axis;

[0070] The data joint solution module 300 includes a tilt noise correction unit 301 and a vector synthesis unit 304;

[0071] The tilt noise correction unit 301 is used to obtain the local ground tilt angle θ using the atomic interferometer gyroscope in the inclinometer detection mode. Z The rotation speed measured by the laser interferometer gyroscope is subjected to tilt noise correction to obtain the rotation speed after tilt noise correction; specifically, the tilt angle θ is used Z Performing tilt correction on the angle between the rotation speed measured by the laser interferometer gyroscope and its sensitive axis, deducting the influence of tilt noise on the rotation speed measured by the laser interferometer gyroscope, and obtaining the rotation speed after tilt noise correction;

[0072] The vector synthesis unit 304 is used to perform vector synthesis on the rotation speed measured by the atomic interferometer gyroscope in the gyroscope detection mode and the rotation speed obtained by the laser interferometer gyroscope after tilt noise correction to obtain a relative rotation speed vector with high zero bias stability.

[0073] The data joint solution module 300 is also used to control the switching of the detection mode of the atomic interferometer gyroscope.

[0074] As a further preferred design of the present invention, the data joint solution module 300 further includes a scale factor calibration unit 302 for performing scale factor correction on the tilt noise corrected rotational velocity obtained by the laser interferometer gyroscope using the rotational velocity measured by the atomic interferometer gyroscope in the gyroscope detection mode, so as to convert the tilt noise corrected rotational velocity into an absolute rotational velocity corrected by the scale factor.

[0075] The vector synthesis unit 304 is further configured to perform vector synthesis on the obtained absolute rotational velocity after scale factor correction and the rotational velocity measured by the atomic interferometer gyroscope in the gyroscope detection mode to obtain an absolute rotational velocity vector with high zero-bias stability.

[0076] As one implementation method, an atomic interferometer gyroscope 100 and a laser interferometer gyroscope 200 can be used to achieve three-dimensional relative rotation speed measurement and three-dimensional absolute rotation speed measurement with high zero-bias stability, specifically including:

[0077] An atomic interferometer gyroscope 100 includes two sensitive axes that are perpendicular to each other, and can realize the measurement of two-dimensional rotation speed. A laser interferometer gyroscope 200 includes one sensitive axis, and can realize the measurement of one-dimensional rotation speed. Taking the two perpendicular sensitive axes of the atomic interferometer gyroscope parallel to the horizontal plane and the sensitive axis of the laser interferometer gyroscope perpendicular to the horizontal plane as an example, the three sensitive axes are perpendicular to each other and intersect at one point, and at the same time form a complete three-dimensional Cartesian coordinate system, as one of the placement methods, such as Figure 7 As shown, the atomic interferometer gyroscope and the laser interferometer gyroscope are placed on the same horizontal plane, wherein the atomic interferometer gyroscope is located at the intersection of the diagonals of the laser interferometer gyroscope.

[0078] The atomic interferometer gyroscope 100 measures the rotational speeds in two directions perpendicular to each other on the horizontal plane in the gyroscope detection mode. The embodiment of the present invention is described by taking the measurement of the east-west and north-south directions of the horizontal plane as an example. The two rotational speeds are recorded as the first rotational speed ω E-W and the second rotational speed ω N-S ;

[0079] The laser interferometer gyroscope 200 measures the rotational speed in the normal direction of the horizontal plane, which is recorded as the third rotational speed ω V ;

[0080] The data joint solution module 300 controls the change of the working mode of the atomic interferometer gyroscope 100 to the inclinometer detection mode, and measures the local ground tilt angle θ in the inclinometer detection mode. Z ;

[0081] The tilt noise correction unit 301 uses the tilt angle θ Z For the third rotation speed ω VPerform tilt noise correction and deduct the third rotation speed ω V The tilt noise in the image is used to obtain the rotation speed after tilt noise correction, which is recorded as the fourth rotation speed ω V1 ;

[0082] The vector synthesis unit 304 converts the first rotation speed ω E-W , the second rotation speed ω N-S and the fourth rotation speed ω V1 Vector synthesis is used to obtain a three-dimensional relative rotation velocity vector with high zero-bias stability.

[0083] The scale factor calibration unit 302 is used to use the first rotation speed ω E-W Or the second rotation speed ω N-S For the fourth rotation speed ω V1 Perform scale factor correction to obtain the calibrated absolute rotation speed, which is recorded as the fifth rotation speed ω V2 ;

[0084] The vector synthesis unit 304 is further configured to convert the first rotation speed ω E-W , the second rotation speed ω N-S and the fifth rotational speed ω V2 Vector synthesis is used to obtain a three-dimensional absolute rotation velocity vector with high zero-bias stability.

[0085] As a second implementation method, one atomic interferometer gyroscope 100 and two laser interferometer gyroscopes 200 can be used to achieve three-dimensional relative rotation speed measurement and three-dimensional absolute rotation speed measurement with high zero-bias stability. Unlike the first implementation method, the second implementation method uses a two-directional laser interferometer gyroscope and a unidirectional atomic interferometer gyroscope for three-dimensional measurement. One sensitive axis in the atomic interferometer gyroscope 100 is used, one laser interferometer gyroscope 200 has one sensitive axis, and two laser interferometer gyroscopes 200 have two sensitive axes. The three sensitive axes are perpendicular to each other and intersect at one point, forming a complete three-dimensional Cartesian coordinate system.

[0086] The atomic interferometer gyroscope only measures the rotation speed in the direction of one sensitive axis in the gyroscope detection mode. The two laser interferometer gyroscopes measure the rotation speed in the other two sensitive axis directions respectively. The atomic interferometer gyroscope measures the tilt angle θ in the inclinometer detection mode. Z The rotational speeds measured by the two laser interferometer gyroscopes are corrected, and the two rotational speeds after tilt correction are synthesized with the rotational speed measured by the atomic interferometer gyroscope in the gyroscope detection mode to obtain a three-dimensional relative rotational speed vector with high zero-bias stability.

[0087] The rotation speed sensed in the direction of a sensitive axis obtained in the gyroscope detection mode is used to perform scale factor correction on the two rotation speeds after tilt correction. The two rotation speeds after scale factor correction are vector-synthesized with the rotation speed sensed in the direction of a sensitive axis obtained in the gyroscope detection mode to obtain a three-dimensional absolute rotation speed vector with high zero-bias stability.

[0088] As a third implementation method, different from the first implementation method, an atomic interferometer gyroscope 100 and a laser interferometer gyroscope 200 can be used to achieve two-dimensional relative rotation speed measurement and two-dimensional absolute rotation speed measurement with high zero-bias stability, specifically including: the rotation speed sensed in the direction of a sensitive axis of the atomic interferometer gyroscope can be discarded to achieve two-dimensional relative rotation speed measurement and two-dimensional absolute rotation speed measurement.

[0089] As a fourth implementation method, based on the first implementation method, the three-dimensional absolute rotation speed of the earth can also be measured. Specifically, the data joint solution module 300 further includes a coordinate system transformation unit 303: the coordinate system transformation unit 303 is used to transform the first rotation speed ω in the first implementation method into E-W , the second rotation speed ω N-S and the fifth rotational speed ω V2 Converted into the corresponding rotation speed in the spherical center coordinate system, the vector synthesis unit 304 synthesizes the corresponding rotation speed vector to realize the absolute rotation speed of the earth Measurements such as Figure 9 shown.

[0090] The specific implementation of the atomic interferometer gyroscope 100, the laser interferometer gyroscope 200 and the data joint solution module 300 is detailed below:

[0091] The atomic interferometer gyroscope and laser interferometer gyroscope in the present invention can adopt existing atomic interferometer gyroscopes and laser interferometer gyroscopes. The atomic interferometer gyroscope and laser interferometer gyroscope described below are only one embodiment of the present invention. For example, with respect to the laser interferometer gyroscope, it can also adopt a fiber optic gyroscope, a laser gyroscope, or other technical routes. In other words, the present invention utilizes a combination of atomic interferometer and optical interferometer to perform rotation detection, which is independent of the specific technical route of the gyroscope.

[0092] Specifically, the atomic interferometer gyroscope 100 uses laser to cool trapped atomic clusters, then throws the atoms upward, uses laser in a specific direction to split the atomic clusters, and passes through different paths. It then uses laser to combine the atomic clusters for interference, and determines the rotational speed in the sensitive axis direction by detecting the number of atoms in a preset momentum state in the atomic clusters.

[0093] like Figure 3 and Figure 4As shown, the atomic interferometer gyroscope 100 includes an atom preparation module 101, an atom interference module 102, an atom detection module 103 and a first laser light source module 104;

[0094] The atom preparation module 101 is used to prepare magnetically insensitive atomic clusters, and then throw the cooled and trapped atomic clusters upward to the atomic interference module 102;

[0095] The atom interference module 102 is used to split, reflect, and combine the atom clusters under the action of the laser light generated by the first laser light source module 104. After the atom clusters pass through different paths, they undergo atomic interference and fall to the atom detection module 103.

[0096] The atomic detection module 103 is used to detect the interfering atomic clusters in the corresponding direction, and extract the rotation speed in the corresponding direction by determining the number of preset momentum states of the atomic clusters; specifically, under the action of the first laser light source module 104, the atoms in the falling atomic clusters that are not in the preset momentum state are "blown away", and then the rotation speed in the corresponding direction is determined according to the number of atoms in the preset momentum state in the atomic clusters, such as the rotation speed in the X and Y directions of the horizontal plane. Taking the first implementation method of the present invention as an example, the first rotation speed ω can be obtained by the atomic detection module 103 E-W and the second rotational speed ω N-S .

[0097] The corresponding direction may be the X-axis direction or the Y-axis direction, and the specific direction is related to the movement path of the atomic cluster, specifically, consistent with the direction of the atomic cluster's beam splitting, reflection, and beam combining.

[0098] The specific process is as follows: a magnetically insensitive atomic cluster is prepared in the atom preparation module 101, and the atomic cluster is cooled and trapped by the laser 105. The atomic cluster is then thrown upward and enters the atom interference module 102. The laser 106 acts on the atomic cluster entering the atom interference module 102 to split the atomic cluster. The lasers 107 and 108 act on the two beams of atomic clusters respectively to reflect the two beams of atomic clusters. The laser 109 combines the two beams of atomic clusters after reflection. The combined atomic clusters undergo atomic interference after experiencing different paths. The two beams of atomic clusters carry rotation information in two directions respectively. The atomic clusters after interference fall into the atom detection module 103. The laser 110 interacts with the atoms falling into the atom detection module 103 to detect the interfering atomic clusters in two directions, and "blows away" the atoms in the falling atomic clusters that are not in the preset momentum state. Then, the rotation speed in the corresponding direction is determined according to the number of atoms in the preset momentum state in the atomic cluster.

[0099] The lasers 105 to 110 are both emitted by the first laser light source module 104 , and the first laser light source module 104 is used to generate a laser pulse sequence for atomic interference.

[0100] like Figure 5-Figure 8As shown, the laser interferometer gyroscope 200 includes a second laser light source module, a ring cavity laser interferometer module 202 and a beat frequency detection module 203;

[0101] The second laser light source module is used to generate two laser beams outside or inside the ring cavity laser interferometer module;

[0102] The ring cavity laser interference module 202 is used to provide a high-Q vacuum resonance environment to allow two laser beams to interfere and resonate in the ring cavity, generating two beams of transmitted light;

[0103] The beat frequency detection module 203 is used to combine the two transmitted light beams, and then beat the combined laser beams to obtain the frequency difference between the two laser beams to extract the rotation speed in the sensitive axis direction. Taking the first implementation of the present invention as an example, the third rotation speed ω can be obtained. V .

[0104] The second laser light source module may be an extracavity laser generating module 201 or a laser gain medium module 209;

[0105] like Figure 5 and Figure 7 As shown, when the second laser light source module is the extracavity laser generation module 201, the extracavity laser generation module 201 emits two laser beams 204 and 205 that enter the ring cavity laser interference module 202 and are respectively locked to the resonance peaks in two directions of the ring interference cavity. The two counter-propagating laser beams in the cavity are transmitted from the same position of the ring interference cavity. The transmitted light 206 and 207 are combined by the beam combining prism, and the generated combined light 208 enters the beat frequency detection module 203. After the beat frequency, the rotation speed in the sensitive axis direction can be obtained.

[0106] like Figure 6 and Figure 8 As shown, when the second laser light source module is the laser gain medium module 209, after the laser gain medium module 209 is pumped, the gain medium is stimulated to radiate, and lasers 204 and 205 are generated in the ring cavity in clockwise and counterclockwise directions. After the two laser beams are automatically selected by the ring cavity laser interference module 202, they are just at the resonance peaks in the two directions. The two counter-propagating laser beams in the cavity are transmitted from the same position of the ring interference cavity. The transmitted light 206 and 207 are combined by the beam combining prism, and the generated combined light 208 enters the beat frequency detection module 203. After the beat frequency, the rotation speed in the sensitive axis direction can be obtained.

[0107] Specifically, if Figure 9 As shown, the data joint solution module 300 of the present invention includes a tilt noise correction unit 301, a scale factor calibration unit 302, and a vector synthesis unit 304;

[0108] The tilt noise correction unit 301 is used to calculate the local ground absolute tilt angle θ obtained by the atomic interferometer gyroscope in the inclinometer detection mode. Z After deducting the tilt noise from the rotation speed measured by the laser interferometer gyroscope 200, taking the first implementation of the present invention as an example, the deducted third rotation speed ω V The tilt noise in is:

[0109] θ Z Ω E sinθ

[0110] Among them, θ is the local latitude, which is 90° minus the local latitude, and Ω E Indicates the Earth's rotation speed, which can be obtained by checking the IERS report.

[0111] Specifically, deduct the third rotation speed ω V The process of tilt noise in includes:

[0112] Based on the tilt angle θ Z Calculate the Earth's rotation speed Ω E The projection value on its sensitive axis is Ω E cos(θ-θ Z );

[0113] Ω E cos(θ-θ Z )≈Ω E cosθ+θ Z Ω E sinθ

[0114] The tilt noise term that needs to be deducted is: θ Z Ω E sinθ.

[0115] Since there is an error in the interference area measurement in the scale factor of the laser interferometer gyroscope, the scale factor of the atomic interferometer gyroscope is quantized. The scale factor of the laser interferometer gyroscope is calibrated using the atomic gyroscope data as a benchmark to deduct the bias caused by the interference area measurement error in the scale factor.

[0116] The measured Sagnac frequency f of the laser interferometer gyroscope s The expression is:

[0117]

[0118] The area expression is:

[0119]

[0120] Where Ω represents the rotation rate; f srepresents the frequency difference between the two resonant laser beams in the interferometer cavity due to the invariance of the speed of light under the rotating frame; λ and P represent the laser wavelength and the circumference of the interference path, respectively, which are easy to measure. The interference area of ​​laser interference is difficult to measure accurately. In the present invention, the rotation speed Ω measured by the atomic interferometer gyroscope can be used to calculate the laser wavelength λ, circumference P, and Sagnac frequency f of the laser gyroscope module. s The laser interference area A of the laser gyroscope module is calculated inversely to complete the calibration of the area A in the scale factor of the laser gyroscope module. Taking the first implementation of the present invention as an example, for the laser interference gyroscope, the rotation speed Ω refers to ω V For atomic interferometer gyroscope, the rotation speed Ω refers to ω E-W or ω N-S .

[0121] The scale factor calibration unit 302 uses the rotation speed measured by the atomic interferometer gyroscope in the gyroscope detection mode to calibrate the scale factor of the rotation speed obtained by the laser interferometer gyroscope after tilt noise correction, including:

[0122] The bias value is designed with the goal of making the variance of the difference between the calibrated rotation speed and the rotation speed measured in the gyroscope detection mode close to zero;

[0123] The offset value is superimposed on the rotation speed after tilt noise correction to obtain the calibrated rotation speed.

[0124] The scaling factor calibration unit 302 uses the first rotation speed ω E-W Or the second rotation speed ω N-S For the fourth rotation speed ω V1 Taking scale factor calibration as an example, the calibration process is further explained:

[0125] The first rotation speed ω E-W (Or it can also be the second rotation speed ω N-S ) and the fourth rotation speed ω V1 The transformation is on the same projection axis;

[0126] Calculating the difference between the two converted rotational speeds and using the difference as the bias value. In other embodiments, the average value of the difference between the two rotational speeds obtained by multiple measurements can also be used as the bias value.

[0127] The bias value is superimposed on the fourth rotation speed ω V1 The calibrated rotation speed is obtained, which is the fifth rotation speed ω V2 ;

[0128] At this time, the fifth rotation speed ω V2 With the first rotation speed ω E-W The variance of the difference approaches zero.

[0129] The vector synthesis unit 304 converts the first rotation speed ω E-W , the second rotation speed ω N-S and the fifth rotational speed ω V2 Vector synthesis is used to obtain three-dimensional absolute rotation speed with high zero-bias stability.

[0130] The present invention also provides a three-dimensional rotational speed measurement method based on atomic interferometry and laser interferometry, comprising an atomic interferometer gyroscope and a laser interferometer gyroscope, wherein the atomic interferometer gyroscope includes a gyroscope detection mode and an inclinometer detection mode. The three-dimensional rotational speed measurement method comprises the following steps:

[0131] The atomic interferometer gyroscope measures the rotation speed felt in the direction of its sensitive axis in gyroscope detection mode;

[0132] Use a laser interferometer gyroscope to measure the rotation speed felt in the direction of its sensitive axis;

[0133] Control the atomic interferometer gyroscope to switch to the inclinometer detection mode. The atomic interferometer gyroscope measures the local ground tilt angle θ in the inclinometer detection mode. Z ;

[0134] Using the tilt angle θ Z The rotation speed measured by the laser interferometer gyroscope is subjected to tilt noise correction to obtain the rotation speed after tilt noise correction; specifically, the tilt angle θ is used Z Performing tilt correction on the angle between the rotation speed measured by the laser interferometer gyroscope and its sensitive axis, deducting the influence of tilt noise on the rotation speed measured by the laser interferometer gyroscope, and obtaining the rotation speed after tilt noise correction;

[0135] The rotational velocity measured by the atomic interferometer gyroscope in gyroscope detection mode is vector-synthesized with the tilt noise-corrected rotational velocity obtained by the laser interferometer gyroscope to obtain a relative rotational velocity with high zero-bias stability.

[0136] The sensitive axis of the atomic interferometer gyroscope and the sensitive axis of the laser interferometer gyroscope are perpendicular to each other and intersect at one point, forming a Cartesian coordinate system.

[0137] As a further preferred design of the present invention, the following steps are also included:

[0138] The rotational velocity measured by the atomic interferometer gyroscope in the gyroscope detection mode is used to perform a scale factor correction on the rotational velocity after tilt noise correction obtained by the laser interferometer gyroscope, so that the rotational velocity after tilt noise correction is converted into an absolute rotational velocity after scale factor correction;

[0139] The obtained absolute rotational velocity after scale factor correction is vector-synthesized with the rotational velocity measured in the gyroscope detection mode to obtain an absolute rotational velocity with high zero-bias stability.

[0140] In order to measure the absolute rotation speed of the earth, the following steps are also included:

[0141] The obtained absolute rotation speed after scale factor correction and the rotation speed measured in the gyroscope detection mode are converted into the corresponding rotation speed in the spherical coordinate system, and the corresponding rotation speed vectors are synthesized to realize the absolute rotation speed of the earth. measurement.

[0142] Similarly, the method of the present invention can achieve two-dimensional or three-dimensional relative / absolute rotation speed with high zero-bias stability according to the number of atomic interferometer gyroscopes and laser interferometer gyroscopes and the number of sensitive axes used; the specific implementation of each step is shown in the above Figures 1-9 The detailed description of each module unit of the three-dimensional gyroscope based on atomic interferometry and laser interferometry is omitted here.

[0143] Since the placement of the laser interferometer gyroscope is not absolutely horizontal and the inclination angle of the horizontal plane is not stable, the rotation speed measured by the laser interferometer gyroscope has tilt noise. The existence of the tilt noise affects the difficulty of further improving the rotation speed resolution, thereby affecting the zero bias stability of the gyroscope. The present invention uses the atomic interferometer gyroscope to measure the tilt angle θ in the inclinometer detection mode. Z The angle between the rotation speed measured by the laser interferometer gyroscope and its sensitive axis is tilt-corrected, and the influence of tilt noise on the rotation speed measured by the laser interferometer gyroscope is deducted to obtain the rotation speed after tilt noise correction. The rotation speed after tilt noise correction is vector-summed with the rotation speed measured by the atomic interferometer gyroscope in the gyroscope detection mode, thereby improving the resolution of the rotation speed measurement and obtaining a relative rotation speed with high zero-bias stability.

[0144] Furthermore, since the interference area in the scale factor of a laser interferometer gyroscope is difficult to measure accurately, the present invention jointly measures a physical quantity using an atomic interferometer gyroscope and a laser interferometer gyroscope, utilizes the high accuracy of the measurement value of the atomic interferometer gyroscope to perform scale factor correction on the rotation speed measured by the laser interferometer gyroscope, deducts the bias caused by the area measurement error in the scale factor, converts the rotation speed after tilt noise correction into an accurate absolute rotation speed, and realizes high-precision measurement of the three-dimensional or two-dimensional absolute rotation speed vector based on the number of sensitive axes used.

[0145] At the same time, the present invention can also combine the local longitude and latitude to convert the local rotation speed measured by the atomic interferometer gyroscope and the local rotation speed of the corrected laser interferometer gyroscope into the earth's spherical center coordinate system to achieve the measurement of the earth's absolute rotation speed.

[0146] The three-dimensional gyroscope based on atomic interference and laser interference of the present invention utilizes the combination of atomic interference and optical interference to perform rotation detection. Through the designed data joint solution module, the advantages of the Sagnac effect of optical interference and the Sagnac effect of matter wave interference are combined. That is, the advantages of the laser interferometer gyroscope, such as large bandwidth and high short-term sensitivity, are combined with the characteristic of easy measurement of the scale factor of the atomic gyroscope. The advantages complement each other, and a three-dimensional gyroscope with high zero-bias stability and the measurement of the three-dimensional absolute rotation velocity vector can be realized. Compared with the current three-dimensional gyroscope composed of all laser gyroscopes, the three-dimensional gyroscope has higher zero-bias stability.

[0147] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A three-dimensional gyroscope based on atomic interferometry and laser interferometry, characterized in that: include: An atomic interferometer gyroscope (100), a laser interferometer gyroscope (200), and a data joint solution module (300); the sensitive axis of the atomic interferometer gyroscope (100) and the sensitive axis of the laser interferometer gyroscope (200) are perpendicular to each other and intersect at one point, thereby forming a Cartesian coordinate system; The atomic interferometer gyroscope (100) is used to measure the rotation speed felt in the direction of its sensitive axis and to measure the local ground tilt angle. ; The laser interferometer gyroscope (200) is used to measure the rotation speed felt in the direction of its sensitive axis; The data joint solution module (300) comprises a tilt noise correction unit (301) and a vector synthesis unit (304); The tilt noise correction unit (301) is used to use the tilt angle Correcting the angle between the rotational speed measured by the laser interferometer gyroscope (200) and its sensitive axis to obtain the rotational speed after deducting the tilt noise; The vector synthesis unit (304) is used to perform vector synthesis on the rotation speed measured by the atomic interferometer gyroscope (100) and the rotation speed after the tilt noise is deducted, so as to obtain a relative rotation speed vector.

2. The three-dimensional gyroscope based on atomic interferometry and laser interferometry according to claim 1, characterized in that: The data joint solution module (300) further includes a scale factor calibration unit (302); The scale factor calibration unit (302) is used to correct the scale factor of the rotation speed after the tilt noise is deducted according to the rotation speed measured by the atomic interferometer gyroscope (100) to obtain a calibrated rotation speed; The vector synthesis unit (304) is further used to perform vector synthesis on the rotation speed measured by the atomic interferometer gyroscope (100) and the calibrated rotation speed to obtain an absolute rotation speed vector.

3. The three-dimensional gyroscope based on atomic interferometry and laser interferometry according to claim 1, characterized in that: The tilt noise is: in, is the extra latitude of this region, Represents the Earth's rotation speed.

4. The three-dimensional gyroscope based on atomic interferometry and laser interferometry according to claim 2, characterized in that: The process of the scale factor calibration unit (302) correcting the scale factor of the rotation speed after the tilt noise is subtracted according to the rotation speed measured by the atomic interferometer gyroscope (100) includes: Designing a bias value with the goal of making the variance of the difference between the calibrated rotational speed and the rotational speed measured by the atomic interferometer gyroscope (100) approach zero; The offset value is superimposed on the rotation speed after the tilt noise is subtracted to obtain the calibrated rotation speed.

5. The three-dimensional gyroscope based on atomic interferometry and laser interferometry according to any one of claims 1 to 4, characterized in that: The atomic interferometer gyroscope (100) and the laser interferometer gyroscope (200) are both one; The atomic interference gyroscope (100) comprises two sensitive axes, which are perpendicular to each other and parallel to a horizontal plane; the laser interferometer gyroscope (200) comprises one sensitive axis, which is perpendicular to the horizontal plane.

6. The three-dimensional gyroscope based on atomic interferometry and laser interferometry according to any one of claims 1 to 4, characterized in that: There is one atomic interferometer gyroscope (100) and two laser interferometer gyroscopes (200); The atomic interferometer gyroscope (100) includes a sensitive axis, and each of the laser interferometer gyroscopes (200) includes a sensitive axis.

7. The three-dimensional gyroscope based on atomic interferometry and laser interferometry according to claim 2 or 4, characterized in that: The data joint solution module (300) further includes a coordinate system conversion unit (303) for converting the rotation speed measured by the atomic interferometer gyroscope (100) and the calibrated rotation speed into corresponding rotation speeds in a spherical center coordinate system; The vector synthesis unit (304) is further used to perform vector synthesis on the corresponding rotational speeds to obtain the earth's absolute rotational speed vector.

8. The three-dimensional gyroscope based on atomic interferometry and laser interferometry according to any one of claims 1 to 4, characterized in that: The atomic interference gyroscope (100) comprises an atom preparation module (101), an atom interference module (102), an atom detection module (103) and a first laser light source module (104); The atom preparation module (101) is used to prepare magnetically insensitive atomic clusters, and then throw the cooled and trapped atomic clusters upward to the atom interference module (102); The atom interference module (102) is used to split, reflect, and combine the atom clusters under the action of the laser light generated by the first laser light source module (104), so that the atoms interfere with each other after passing through different paths and fall to the atom detection module (103); The atom detection module (103) is used to detect the number of preset momentum states of the interfering atomic cluster in the corresponding direction and extract the rotation speed in the corresponding direction.

9. The three-dimensional gyroscope based on atomic interferometry and laser interferometry according to any one of claims 1 to 4, characterized in that: The laser interferometer gyroscope (200) comprises a second laser light source module, a ring cavity laser interference module (202), and a beat frequency detection module (203); The second laser light source module is used to generate two laser beams outside or inside the ring cavity laser interference module; The annular cavity laser interference module (202) is used to provide a high-Q vacuum resonance environment to enable the two laser beams to interfere and resonate in the annular cavity, thereby generating two beams of transmitted light; The beat frequency detection module (203) is used to combine two beams of transmitted light, and then perform beat frequency on the combined laser beams to obtain a frequency difference between the two laser beams, so as to extract the rotation speed in the direction of the sensitive axis.

10. A three-dimensional rotational speed measurement method based on atomic interferometry and laser interferometry, characterized in that: The invention comprises an atomic interferometer gyroscope (100) and a laser interferometer gyroscope (200), wherein the sensitive axis of the atomic interferometer gyroscope (100) and the sensitive axis of the laser interferometer gyroscope (200) are perpendicular to each other and intersect at one point, thereby forming a Cartesian coordinate system. The three-dimensional rotational speed measurement method comprises the following steps: The atomic interferometer gyroscope (100) measures the rotation speed felt in the direction of its sensitive axis and measures the local ground tilt angle. ; The laser interferometer gyroscope (200) measures the rotation speed sensed in the direction of its sensitive axis; Using the tilt angle Correcting the angle between the rotational speed measured by the laser interferometer gyroscope (200) and its sensitive axis to obtain the rotational speed after deducting the tilt noise; Performing vector synthesis on the rotational speed measured by the atomic interferometer gyroscope (100) and the rotational speed after deducting the tilt noise to obtain a relative rotational speed vector; or / and also include the steps of: Correcting the scale factor of the rotational speed after the tilt noise is deducted according to the rotational speed measured by the atomic interferometer gyroscope (100) to obtain a calibrated rotational speed; The rotational speed measured by the atomic interferometer gyroscope (100) and the calibrated rotational speed are vector-synthesized to obtain an absolute rotational speed vector.

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