Multi-module cooperative gyroscope positioning and navigation system and method based on NV color center

Abstract

The present invention discloses a multi-module collaborative gyroscope positioning and navigation system based on NV color center and method. The multi-module collaborative gyroscope positioning and navigation system based on NV color center includes: a macro inertial measurement module, the macro inertial measurement module obtains the first motion state data of the measured object; a micro inertial measurement module, the micro inertial measurement module obtains the second motion state data of the measured object; a main control module, the main control module obtains target parameters according to the first motion state data and the second motion state data, and obtains the positioning and navigation data of the measured object according to the target parameters. The present invention is provided with a macro inertial measurement module to obtain the first motion state data of the measured object within a set range, and a micro inertial measurement module to obtain the second motion state data of the measured object not within the set range. The motion state data is more accurate and can better reflect the actual motion state of the measured object, thereby improving positioning accuracy.

Description

Technical Field

[0001] The present invention relates to the field of positioning and navigation technology, and in particular to a multi-module collaborative gyroscope positioning and navigation system and method based on NV color centers. Background Art

[0002] Positioning and navigation systems typically utilize high-precision detection instruments to measure environmental factors such as gravity, magnetic fields, and topography. These measurements are then compared with a database to derive location information for navigation applications. Inertial integrated navigation is an important and feasible approach. In this method, the inertial measurement module provides position change parameters. The inertial navigation system calculates the final position based on the initial position and position change parameters, thereby determining the location of the object.

[0003] However, the inertial measurement module in the related technology has certain system errors. Especially when the detected object changes direction suddenly or performs large technical movements, the system errors detected by the above scheme increase and accumulate, making it impossible for the positioning and navigation system to accurately locate. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a multi-module collaborative gyroscope positioning and navigation system based on NV color centers to improve positioning accuracy.

[0005] The present invention also proposes a positioning and navigation method using the above-mentioned multi-module collaborative gyroscope positioning and navigation system based on NV color centers to improve positioning accuracy.

[0006] According to an embodiment of the present invention, a multi-module collaborative gyroscope positioning and navigation system based on NV color center includes: a macro inertial measurement module, which is used to obtain first motion state data of the object under test when the motion state change of the object under test is within a set range; a micro inertial measurement module, which is used to obtain second motion state data of the object under test when the motion state change of the object under test is not within the set range; a main control module, which is electrically connected to the macro measurement module and the micro inertial measurement module, and the main control module obtains target parameters according to the first motion state data and the second motion state data, and obtains positioning and navigation data of the object under test according to the target parameters.

[0007] According to the multi-module collaborative gyroscope positioning and navigation system based on NV color center in an embodiment of the present invention, a macro inertial measurement module is set to obtain first motion state data of the measured object within a set range, and a micro inertial measurement module is set to obtain second motion state data of the measured object when it is not within the set range. The motion state data is more accurate and can better reflect the actual motion state of the measured object, thereby improving positioning accuracy.

[0008] In some embodiments, the macro-inertial measurement module includes: a first NV probe, which is used to be installed on the object to be measured; a first laser device, which is electrically connected to the main control module and can emit laser to the first NV probe; a first microwave device, which is electrically connected to the main control module and can emit microwaves to the first NV probe; an active magnetic field device, which includes an elastic connector and a permanent magnet connected to the elastic connector, and the elastic connector is used to be installed on the object to be measured, and the permanent magnet can move relative to the object to be measured through the elastic connector; a first signal acquisition device, which is used to collect fluorescence information output by the first NV probe, and the first signal acquisition device is electrically connected to the main control module, and the main control module obtains the first motion state data of the object to be measured according to the fluorescence information output by the first NV probe.

[0009] Specifically, the macro-inertial measurement module further includes a first shielding container, and the magnetic field device and the first NV probe are arranged in the first shielding container.

[0010] More specifically, the macro-inertial measurement module also includes: a first magnetic field generating device, the first magnetic field generating device includes a first magnetic field generating component and a first magnetic control component, the first magnetic field generating component is arranged in the first shielding container, and the first magnetic control component is electrically connected to the first magnetic field generating component and the main control module, and is used to adjust the magnetic field size of the first magnetic field generating component.

[0011] In some embodiments, the micro-inertial measurement module includes: a second NV probe, which is used to be arranged on the object to be measured; a second laser device, which is electrically connected to the main control module, and the second laser device can emit laser to the second NV probe; a second microwave device, which is electrically connected to the main control module, and the second microwave device can emit microwaves to the second NV probe; a second magnetic field generating device, which is electrically connected to the main control module; a second signal acquisition device, which is used to collect fluorescence information output by the second NV probe, and the second signal acquisition device is electrically connected to the main control module, and the main control module obtains the second motion state data of the object to be measured according to the fluorescence information output by the second NV probe.

[0012] Specifically, the micro-inertial measurement module further includes a second shielding container, and the second magnetic field generating device and the second NV probe are arranged in the second shielding container.

[0013] In some embodiments, the multi-module collaborative gyroscope positioning and navigation system based on NV color center also includes a geomagnetic measurement module, which is electrically connected to the main control module and is used to obtain the reference parameters of the object under test at the current position. When the target parameter exceeds the preset range compared with the reference parameter, the main control module calibrates the positioning and navigation data of the object under test according to the reference parameter.

[0014] Specifically, the geomagnetic measurement module includes: a third NV probe, which is used to be installed on the object to be measured; a third laser device, which is electrically connected to the main control module, and the third laser device can emit laser to the third NV probe; a third microwave device, which is electrically connected to the main control module, and the third microwave device can emit microwaves to the third NV probe; a third magnetic field generating device, which is electrically connected to the main control module; a third signal acquisition device, which is used to collect fluorescence information output by the third NV probe, and the third signal acquisition device is electrically connected to the main control module, and the main control module obtains the control parameters of the object to be measured at the current position according to the fluorescence information output by the third NV probe.

[0015] According to an embodiment of the present invention, a multi-module collaborative gyroscope positioning and navigation method based on NV color center uses the above-mentioned positioning and navigation system, including: step S1: establishing a trust model based on the macro inertial measurement module and the micro inertial measurement module; step S2: when the first motion state data obtained by the macro inertial measurement module and the second motion state data obtained by the micro inertial measurement module do not fall within the range of the trust model, trusting the second motion state data; when the first motion state data obtained by the macro inertial measurement module and the second motion state data obtained by the micro inertial measurement module fall within the range of the trust model, trusting the first motion state data; step S3: obtaining the target parameters of the object under test based on the trusted second motion state data and the first motion state data, and obtaining the positioning and navigation data of the object under test based on the target parameters.

[0016] According to the multi-module collaborative gyroscope positioning and navigation method based on NV color center in an embodiment of the present invention, a macro inertial measurement module is set to obtain first motion state data when the measured object is within a set range, and a micro inertial measurement module is set to obtain second motion state data when the measured object is not within the set range. The motion state data is more accurate and can better reflect the actual motion state of the measured object, thereby improving positioning accuracy.

[0017] In some embodiments, step S1 includes: accelerating the measured object along a constant direction, obtaining a critical value of acceleration when the accuracy of the first motion state data is greater than the second motion state data when the acceleration of the measured object gradually increases, and obtaining the critical value of acceleration corresponding to the measured object at different angular velocities, and / or obtaining a critical value of angular velocity when the accuracy of the first motion state data is greater than the second motion state data when the angular velocity of the measured object gradually increases, and obtaining the critical value of angular velocity corresponding to the measured object at different accelerations; and forming the acceptance model based on the acquired acceleration and angular velocity fitting.

[0018] In some embodiments, the positioning and navigation system includes a geomagnetic measurement module, which is electrically connected to the main control module and is used to obtain the control parameters of the object under test at the current position. The method also includes: Step S4: When the target parameter exceeds a preset range compared to the control parameter, the main control module calibrates the positioning and navigation data of the object under test according to the control parameter.

[0019] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0021] Figure 1 Schematic diagram of the composition of the multi-module cooperative gyroscope positioning and navigation system based on NV color center in an embodiment of the present invention Figure 1 ;

[0022] Figure 2 Schematic diagram of the composition of the multi-module cooperative gyroscope positioning and navigation system based on NV color center in an embodiment of the present invention Figure 2 ;

[0023] Figure 3 Schematic diagram of a trust model in an embodiment of the present invention;

[0024] Figure 4 Schematic diagram of the steps of the multi-module collaborative gyroscope positioning and navigation method based on NV color center in an embodiment of the present invention Figure 1 ;

[0025] Figure 5 Schematic diagram of the composition of the multi-module cooperative gyroscope positioning and navigation system based on NV color center in an embodiment of the present invention Figure 2 .

[0026] Reference numerals:

[0027] 100. Multi-module cooperative gyroscope positioning and navigation system based on NV color center;

[0028] 10. Macroscopic inertial measurement module; 11. First NV probe; 12. First laser device; 13. First microwave device; 14. Active magnetic field device; 141. Elastic connector; 142. Permanent magnet; 15. First signal acquisition device; 16. First shielding container; 17. First magnetic field generating device; 171. First magnetic field generating assembly; 172. First magnetron assembly;

[0029] 20. Microscopic inertial measurement module; 21. Second NV probe; 22. Second laser device; 23. Second microwave device; 24. Second magnetic field generating device; 241. Second magnetic field generating assembly; 242. Second magnetron assembly; 25. Second signal acquisition device; 26. Second shielding container;

[0030] 30. Main control module;

[0031] 40. Geomagnetic measurement module; 41. Third NV probe; 42. Third laser device; 43. Third microwave device;

[0032] 44. Third magnetic field generating device; 441. Third magnetic field generating assembly; 442. Third magnetic control assembly; 45. Third signal acquisition device;

[0033] 200. Earth's magnetism. DETAILED DESCRIPTION

[0034] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0036] In addition, features defined as "first" or "second" may explicitly or implicitly include one or more such features, and are used to distinguish and describe features, without any distinction in order or importance.

[0037] In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0038] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0039] The following describes a multi-module collaborative gyroscope positioning and navigation system based on NV color centers according to an embodiment of the present invention with reference to the accompanying drawings.

[0040] Microscopically, a diamond NV center is a quantum system formed by a nitrogen atom replacing a carbon atom in diamond and capturing a nearby hole. By controlling the input of fundamental physical quantities such as light, electricity, and magnetism, this quantum system can quantum-manipulate the spin of the diamond NV center. By detecting and analyzing the fluorescence output of the diamond NV center, its spin can be quantum-readout. Furthermore, diamond NV centers exhibit excellent optical readout and polarization properties at room temperature, with coherence times reaching milliseconds, making them a crucial platform for quantum information processing and quantum precision measurement.

[0041] The gyroscope based on diamond NV color center and its related positioning and navigation system is a specific application scenario of diamond NV color center in quantum precision measurement. It is based on the electron spin and nuclear spin characteristics of diamond NV color center. That is, as a quantum system with a time-dependent Hamiltonian evolution that is slow enough, under the condition of satisfying the quantum adiabatic theorem, there is an adiabatic phase called Berry phase (geometric phase) in the result of the phase evolution according to time. By using Stokes' theorem to convert the path integral into a surface integral in the parameter space, the correspondence between the adiabatic phase and the solid angle rotated by the magnetic field can be obtained, thereby detecting the inertial parameters that cause the rotation of the magnetic field carrier.

[0042] like Figure 1 As shown, according to an embodiment of the present invention, a multi-module collaborative gyroscope positioning and navigation system 100 based on NV color center, the multi-module collaborative gyroscope positioning and navigation system 100 based on NV color center includes: a macro inertial measurement module 10, a micro inertial measurement module 20, and a main control module 30.

[0043] The macro inertial measurement module 10 is used to obtain first motion state data of the measured object when the motion state change of the measured object is within a set range. The measured object can be an aircraft, a missile, etc., and the positioning navigation system 100 is installed on it to locate it.

[0044] When the object's motion remains constant, its trajectory is relatively easy to determine. However, when its motion changes, its trajectory becomes more difficult to determine. For example, when an airplane is moving in a horizontal straight line at a constant speed, its speed and direction remain unchanged, making its trajectory easy to determine. However, when its motion changes, such as when it adjusts its direction or speed, the number of parameters affecting its trajectory increases, making it more difficult to determine.

[0045] In particular, when the motion state of the measured object changes within a set range, for example, when the measured object changes direction sharply or performs a large-scale technical action, the motion state change of the measured object can be based on the rate of change of velocity or the rate of change of angle. In actual work, it is found that the relevant technology cannot accurately detect the measured object in this state. The present invention accurately detects the measured object whose motion state changes within the set range by setting a macro inertial measurement module 10. Of course, the present invention is not limited to this. The motion state change of the measured object can also be based on other parameters as a standard, such as the rate of change of position, the rate of change of angular velocity, etc.

[0046] It should be noted that the macro-inertial measurement module 10 always monitors the motion state data of the object under test. The first motion state data mentioned here is only a part of the motion state data detected by the macro-inertial measurement module 10. The first motion state data is the motion state data of the object under test detected by the macro-inertial measurement module 10 when the motion state change of the object under test is within a set range.

[0047] The micro-inertial measurement module 20 is used to obtain the second motion state data of the object under test when the motion state change of the object under test is not within the set range. By setting the micro-inertial measurement module 20 to detect the object under test whose motion state change is not within the set range, the motion state data measured by different measurement modules are used when the object under test is in different motion state changes, thereby improving the targetedness of the positioning and navigation system 100 and thus improving the accuracy of the data.

[0048] It should be noted that the micro-inertial measurement module 20 always monitors the motion state data of the object under measurement. The second motion state data mentioned here is only a part of the motion state data detected by the micro-inertial measurement module 20. The second motion state data is the motion state data of the object under measurement detected by the micro-inertial measurement module 20 when the motion state change of the object under measurement is not within the set range.

[0049] The main control module 30 is electrically connected to the macro measurement module and the micro inertial measurement module 20. The main control module 30 obtains target parameters based on the first motion state data and the second motion state data, and obtains positioning and navigation data of the object under test based on the target parameters. By setting the main control module 30 to obtain target parameters based on the first motion state data and the second motion state data, the first motion state data is the motion data obtained by the macro inertial measurement module 10 when the motion state change of the object under test is within a set range, and the second motion state data is the motion data obtained by the micro inertial measurement module 20 when the motion state change of the object under test is not within the set range. Data obtained by different measurement modules are used for different motion state changes, thereby improving the pertinence of the data and improving the accuracy of the positioning and navigation system 100.

[0050] It should be noted that the first motion state data and the second motion state data can be the displacement of the measured object, and the displacement of the measured object at all times is detected and recorded. The main control module 30 obtains the target parameter based on the displacement within a period of time. The target parameter can be the coordinate change value of the measured object within a period of time. Usually, the initial coordinates of the measured object are determined. Based on the initial coordinates of the measured object, the coordinate change value is considered to finally obtain the positioning navigation data of the measured object, that is, the current coordinates of the measured object. The first motion state data and the second motion state data can also be the moving angle and moving speed of the measured object. The main control module 30 can more easily obtain the displacement of the measured object from the moving angle and moving speed of the measured object, and finally obtain the coordinates where the measured object is located. Of course, the first motion state data and the second motion state data can also be the angular velocity and acceleration of the measured object, and finally can obtain the coordinates where the measured object is located. It can be understood that the above is an example and does not represent a restriction to the first motion state data and the second motion state data.

[0051] According to the multi-module collaborative gyroscope positioning and navigation system 100 based on NV color center of an embodiment of the present invention, a macro inertial measurement module 10 is set to obtain the first motion state data of the measured object within a set range, and a micro inertial measurement module 20 is set to obtain the second motion state data of the measured object when it is not within the set range. The motion state data is more accurate and can better reflect the actual motion state of the measured object, thereby improving the positioning accuracy.

[0052] like Figure 1 As shown, in some embodiments, the macro inertial measurement module 10 includes: a first NV probe 11 , a first laser device 12 , a first microwave device 13 , an active magnetic field device 14 , and a first signal acquisition device 15 .

[0053] The first NV probe 11 is positioned on the object being measured. It should be noted that the first NV probe 11 moves synchronously with the object being measured. For example, if the object rotates 5 degrees clockwise about the first axis, the first NV probe 11 rotates 5 degrees clockwise about the first axis. The first NV probe 11 has a diamond NV color center. Optionally, the first NV probe 11 can be a mature diamond NV color center product used for measuring magnetic fields.

[0054] The first laser device 12 is electrically connected to the main control module 30 and can emit laser light toward the first NV probe 11. It should be noted that the first laser device 12 provides the first NV probe 11 with laser light of a specific specification. For example, the first laser device 12 provides the first NV probe 11 with laser light of a wavelength of 532 nm, causing the first NV probe 11 to emit fluorescence of a specific wavelength and intensity.

[0055] The first microwave device 13 is electrically connected to the main control module 30 and can emit microwaves to the first NV probe 11. It should be noted that the first microwave device 13 provides microwaves of specific specifications to the first NV probe 11 to achieve energy level resonance.

[0056] The movable magnetic field device 14 includes an elastic connector 141 and a permanent magnet 142 connected to the elastic connector 141. The elastic connector 141 is used to be installed on the object to be measured. The permanent magnet 142 can move relative to the object to be measured through the elastic connector 141. By setting the elastic connector 141, the permanent magnet 142 can move relative to the object to be measured. When the motion state of the object to be measured changes, the permanent magnet 142 remains in the initial position due to inertia, thereby changing the position between the permanent magnet 142 and the first NV probe 11.

[0057] When the motion state of the object under measurement changes, for example, when the object under measurement starts to accelerate, the first NV probe 11 moves synchronously with the object under measurement, and the position between the first NV probe 11 and the object under measurement does not change. However, the permanent magnet 142 is provided on the elastic connecting member 141, and the elastic connecting member 141 is provided on the object under measurement. The elastic connecting member 141 allows the permanent magnet 142 to move relative to the object under measurement. Due to the effect of inertia, the position between the permanent magnet 142 and the first NV probe 11 changes, thereby causing the magnetic field received by the first NV probe 11 to change.

[0058] The first signal acquisition device 15 is used to collect the fluorescence information output by the first NV probe 11. The first signal acquisition device 15 is electrically connected to the main control module 30. The main control module 30 obtains the first motion state data of the object under test according to the fluorescence information output by the first NV probe 11. By setting the first signal acquisition device 15 to collect the fluorescence information output by the first NV probe 11, the first motion state data of the object under test can be inferred, thereby realizing the detection of the first motion state data by the macro-inertial measurement module 10. The first NV probe 11 in the magnetic field generated by the permanent magnet 142 changes its relative position with the permanent magnet 142, and the magnetic field felt by the first NV probe 11 changes accordingly, and the fluorescence intensity output by the first NV probe 11 changes. The first signal acquisition device 15 collects the fluorescence information output by the first NV probe 11, so as to infer the change in the magnetic field generated by the permanent magnet 142, and thus further infer the change in the permanent magnet 142 relative to the first NV probe 11. When the motion state of the object under test changes, the permanent magnet 142 stays in the initial state due to inertia, and the object under test drives the first NV probe 11 to move relative to the permanent magnet 142, so that the first motion state data of the object under test can be inferred.

[0059] In some embodiments, the first signal acquisition device 15 is used to collect the frequency difference of the spin energy level splitting of the NV color center in the first NV probe 11 to obtain the first motion state data of the object under test. By setting the first signal acquisition device 15 to collect the frequency difference of the spin energy level splitting of the NV color center in the first NV probe 11, the macro-inertial measurement module 10 can detect the first motion state data. The first NV probe 11, which is in the magnetic field generated by the permanent magnet 142, experiences a change in its relative position to the permanent magnet 142. This changes the magnetic field sensed by the first NV probe 11, and the frequency difference of the spin energy level splitting of the NV color center within the first NV probe 11. The first signal acquisition device 15 collects information output by the first NV probe 11, thereby inferring the change in the magnetic field generated by the permanent magnet 142, and thus further inferring the change in the permanent magnet 142 relative to the first NV probe 11. When the motion state of the measured object changes, the permanent magnet 142 remains in its initial state due to inertia, and the measured object drives the first NV probe 11 to move relative to the permanent magnet 142, thereby inferring the first motion state data of the measured object. Of course, the first signal acquisition device 15 can also simultaneously detect the fluorescence intensity output by the first NV probe 11 and the frequency difference of the spin energy level splitting of the NV color center within the first NV probe 11, enabling the macroscopic inertial measurement module 10 to detect the first motion state data, further improving accuracy.

[0060] Optionally, the fluorescence intensity and / or the frequency difference of the NV color center spin energy level splitting output by the first NV probe 11 in various motion states are collected, and an analysis and detection model is formed using artificial intelligence training. By using artificial intelligence training to form an analysis and detection model, the first motion state data of the object under test can be inferred based on the analysis and detection model, which is simple and convenient and improves efficiency.

[0061] Specifically, the elastic connector 141 is an elastic colloid material, which wraps the permanent magnet 142. By setting the elastic connection as an elastic colloid material wrapping the permanent magnet 142, the permanent magnet 142 can move relative to the first NV probe 11. Alternatively, the elastic connector 141 is a spring mounting system, and springs are provided in six directions of the permanent magnet 142. One end of the spring is connected to the object to be measured, and the other end is connected to the permanent magnet 142, so that the permanent magnet 142 can move relative to the object to be measured. By setting the elastic connector 141 as a spring mounting system, the permanent magnet 142 can move relative to the first NV probe 11.

[0062] like Figure 1As shown, specifically, the macro inertial measurement module 10 also includes a first shielding container 16, and the magnetic field device and the first NV probe 11 are arranged in the first shielding container 16. By setting the first shielding container 16, the working magnetic field in the macro inertial measurement module 10 is prevented from interfering with the measurement operations of other parts, and at the same time, the external magnetic field can be prevented from interfering with its own measurement operations, thereby improving the measurement accuracy.

[0063] like Figure 1 More specifically, the macro-inertial measurement module 10 further includes a first magnetic field generating device 17, which includes a first magnetic field generating assembly 171 and a first magnetron assembly 172. The first magnetic field generating assembly 171 is disposed within the first shielding container 16. The first magnetron assembly 172 is electrically connected to the first magnetic field generating assembly 171 and the main control module 30 and is configured to adjust the magnetic field magnitude of the first magnetic field generating assembly 171. By providing a compensation magnetic field or a specific static magnetic field, the first magnetic field generating device 171 further improves detection accuracy. The first magnetron assembly 172 can be disposed within the first shielding container 16, or it can be disposed outside the first shielding container 16.

[0064] like Figure 1 As shown, in some embodiments, the micro-inertial measurement module 20 includes: a second NV probe 21 , a second laser device 22 , a second microwave device 23 , a second magnetic field generating device 24 , and a second signal acquisition device 25 .

[0065] The second NV probe 21 is positioned on the object being measured. It should be noted that the second NV probe 21 moves synchronously with the object being measured. For example, if the object rotates 3 degrees clockwise about the second axis, the second NV probe 21 rotates 3 degrees clockwise about the second axis. The second NV probe 21 comprises a diamond NV color center. Alternatively, the second NV probe 21 may be an ensemble color center, i.e., a diamond containing multiple NV color centers.

[0066] The second laser device 22 is electrically connected to the main control module 30 and can emit laser light toward the second NV probe 21. It should be noted that the second laser device 22 provides the second NV probe 21 with laser light of a specific specification. For example, the second laser device 22 provides the second NV probe 21 with laser light of a wavelength of 532 nm, causing the second NV probe 21 to emit fluorescence of a specific wavelength and intensity.

[0067] The second microwave device 23 is electrically connected to the main control module 30 and can transmit microwaves to the second NV probe 21. It should be noted that the second microwave device 23 provides microwaves of specific specifications to the second NV probe 21 to achieve energy level resonance.

[0068] The second magnetic field generating device 24 is electrically connected to the main control module 30 .

[0069] The second signal acquisition device 25 is used to collect the fluorescence information output by the second NV probe 21 . The second signal acquisition device 25 is electrically connected to the main control module 30 . The main control module 30 obtains the second motion state data of the measured object according to the fluorescence information output by the second NV probe 21 .

[0070] When the positioning and navigation system 100 is working, the micro-inertial measurement module 20 can obtain the angular velocity information of the object being measured by measuring the electron spin state of the NV color center in the second NV probe 21, and can also obtain the angular velocity information of the object being measured by measuring the nuclear spin state of the NV color center in the second NV probe 21.

[0071] Taking the measurement of the electron spin state of the NV color center in the second NV probe 21 as an example:

[0072] The second laser device 22 emits a laser with a wavelength of 532 nm to initialize the electron spin of the NV center to the ms=0 state. Then the second microwave device 23 applies a π / 2 microwave pulse to the spin electron in the ms=0 state. After the spin electron freely rotates inward for time t, a second π / 2 pulse is applied. Then the second laser device 22 irradiates the NV center with a 532 nm laser, and the fluorescence intensity F emitted by the NV center is detected at this time.

[0073] F ≈ηN(1+Rcosω±t);

[0074] Where R is the comparison of spin state detection between ms=0 and ms=1, R is 0 or 1, η is the photon collection efficiency, N is the number of NV color centers involved in fluorescence emission, and ω± is a physical quantity reflecting external angular velocity information. The angular velocity information of the object being measured can be obtained according to the above formula.

[0075] Furthermore, the micro-inertial measurement system also includes a three-axis acceleration measurement device. By setting the three-axis acceleration measurement device, the acceleration of the object under test is further obtained based on the angular velocity measured by the above formula, so that the micro-inertial measurement module 20 can obtain more comprehensive data of the object under test.

[0076] Specifically, the micro-inertial measurement module 20 also includes a second shielding container 26, and the second magnetic field generating device 24 and the second NV probe 21 are arranged in the second shielding container 26. By setting the second shielding container 26, the working magnetic field of the micro-inertial measurement module 20 itself is prevented from interfering with the measurement operations of other parts, and the external magnetic field is prevented from interfering with the measurement operations of the micro-inertial measurement module 20 itself, thereby improving the measurement accuracy.

[0077] Specifically, the second magnetic field generating device 24 includes a second magnetic field generating assembly 241 and a second magnetron assembly 242. The second magnetic field generating assembly 241 is disposed within the second shielding container 26. The second magnetron assembly 242 is electrically connected to the second magnetic field generating assembly 241 and the main control module 30 and is configured to adjust the magnetic field of the second magnetic field generating assembly 241. By providing a compensating magnetic field or a specific static magnetic field, the second magnetic field generating device 244 further improves detection accuracy. The second magnetron assembly 242 can be disposed within the second shielding container 26, or it can be disposed outside the second shielding container 26.

[0078] The steps to reversely deduce the motion state and motion path of the object under test through the NV color center are as follows:

[0079] 1. NV probe work preparation:

[0080] 1.1. NV color center positioning: NV color centers emit fluorescence of a specific wavelength and intensity when irradiated by a 532 nm laser. Conventional diamonds do not emit fluorescence when irradiated by a 532 nm laser. Some impurities in diamonds also fluoresce at a different intensity and wavelength than the fluorescence of NV color centers. Therefore, confocal scanning can be used to locate NV color centers in diamonds.

[0081] Step 1: Most diamonds containing ensemble NV color centers are processed into right parallelepipeds with rectangular bottoms. Therefore, a three-axis coordinate system can be formed with the length (x-axis), width (y-axis), and height (z-axis) of the right parallelepiped as axes. The diamond containing the ensemble NV color center can be confocally scanned with a step unit of 0.1 nm (this resolution is already within the scale range of the NV color center).

[0082] Step 2: First determine the position of one axial direction (z-axis), then scan the selected area (x1y1) in the plane formed by the other two axial directions (x-axis and y-axis), obtain the position of the NV color center on the surface, and number it.

[0083] Step 3: Step one unit on the axial direction (z-axis) of the determined position, and then scan the selected area (x2y2) in the new plane formed by the other two axial directions (x-axis and y-axis) to obtain the NV color center position on the surface and number it.

[0084] Step 4: Repeat this process until the scan is completed to determine all NV color centers within the selected axial (z-axis) range (z1-zn).

[0085] Among them, when using the NV probe, not all NV color centers inside the diamond will be used. Instead, only an area is selected and the NV color centers within its range are used. Therefore, the x-axis, y-axis, and z-axis have selected areas x1-xn, y1-yn, and z1-zn.

[0086] 1.2. Determining the NV center's axial orientation: By modulating microwaves of varying frequencies, the fluorescence intensity of the NV center within the bias magnetic field changes accordingly, yielding a photodetection magnetic resonance spectrum. The midpoint between the two dips in the photodetection magnetic resonance spectrum is 2870 MHz. If this midpoint deviates from 2870 MHz, it indicates that the bias magnetic field direction deviates from the NV center's axial orientation. Therefore, by adjusting the known bias magnetic field's direction so that the midpoint between the two dips in the photodetection magnetic resonance spectrum is 2870 MHz, the bias magnetic field's direction now corresponds to the NV center's axial orientation, allowing the axial orientation of each NV center to be determined.

[0087] Step 1: Select any one of the numbered NV color centers and determine the axial direction X of the selected NV color center by adjusting the direction of the bias magnetic field;

[0088] Step 2: Starting from NV center No. 1, find the NV center with axis X by adjusting the position of the bias magnetic field among the numbered NV color centers, and reclassify and number them or add classification notes;

[0089] Step 3: Adjust the direction and position of the bias magnetic field to find the NV color center with axis Y among the numbered NV color centers. (In a diamond containing an ensemble of NV color centers, theoretically, there are only four possible axes for all NV color centers, and these four axes have fixed angles between them. The four axes are the lines connecting the center of the regular tetrahedron and the four vertices.)

[0090] Step 4: Adjust the direction and position of the bias magnetic field and find the NV color center with axis Z among the numbered NV color centers.

[0091] It is not necessary to identify all the numbered NV centers along their axes. Instead, it is sufficient to select three of the four axes and identify a certain number (at least one) of NV centers along each axis. The three axes (X, Y, and Z) form a three-axis coordinate system. It should be noted that the X, Y, and Z axes are not orthogonal and have no correlation with the xyz coordinate system used in confocal scanning.

[0092] 2. Measurement method of magnetic field changes:

[0093] Step 1: Detect the magnetic field component of the axis of the object being measured at its location through the NV color center in each axis (X, Y, Z).

[0094] Step 2: Save the obtained magnetic field components in the X, Y, and Z axes.

[0095] Step 3: By collecting the changes in the magnetic field components in the X, Y, and Z axes under various motion states of the object under test, an analysis and detection model is formed through artificial intelligence training. Based on the analysis and detection model, the motion state and motion path of the object under test can be inferred from the changes in the magnetic field components in the X, Y, and Z axes.

[0096] like Figure 2 As shown, in some embodiments, the multi-module collaborative gyroscope positioning and navigation system 100 based on NV color center also includes a geomagnetic measurement module 40, which is electrically connected to the main control module 30 and is used to obtain the control parameters of the object under test at the current position. When the target parameter exceeds the preset range compared with the control parameter, the main control module 30 calibrates the positioning and navigation data of the object under test according to the control parameter. By setting the geomagnetic measurement module 40 to obtain the control parameters of the object under test at the current position, a reference is provided for the target parameter, thereby further improving the positioning accuracy of the positioning and navigation system 100.

[0097] It should be noted that the control parameters only provide a reference for the target parameters. When the control parameters are close to the target parameters, the target parameters shall prevail. When the control parameters are significantly different from the target parameters, for example, the control parameters show that the measured object is in Beijing, while the target parameters show that the measured object is in Shanghai, the positioning and navigation system 100 determines that the target parameters are wrong and abandons the target parameters, thereby avoiding large errors in the positioning and navigation data.

[0098] like Figure 2 As shown, specifically, the geomagnetic measurement module 40 includes: a third NV probe 41 , a third laser device 42 , a third microwave device 43 , a third magnetic field generating device 44 , and a third signal acquisition device 45 .

[0099] The third NV probe 41 is mounted on the object being measured to detect the Earth's magnetic field. It should be noted that the third NV probe 41 moves synchronously with the object being measured. For example, if the object rotates 4 degrees clockwise about the third axis, the third NV probe 41 will rotate 4 degrees clockwise about the third axis. The third NV probe 41 has a diamond NV color center. Optionally, the third NV probe 41 can be a mature diamond NV color center product used for measuring magnetic fields.

[0100] The third laser device 42 is electrically connected to the main control module 30 and can emit laser light toward the third NV probe 41. It should be noted that the third laser device 42 provides the third NV probe 41 with laser light of a specific specification. For example, the third laser device 42 provides the third NV probe 41 with laser light of a wavelength of 532 nm, causing the first NV probe 11 to emit fluorescence of a specific wavelength and intensity.

[0101] The third microwave device 43 is electrically connected to the main control module 30 and can transmit microwaves to the third NV probe 41. It should be noted that the third microwave device 43 provides microwaves of specific specifications to the third NV probe 41 to achieve energy level resonance.

[0102] The third magnetic field generating device 44 is electrically connected to the main control module 30 . The third magnetic field generating device 44 is provided to provide a compensation magnetic field or a specific static magnetic field, thereby further improving the detection accuracy.

[0103] The third signal acquisition device 45 is used to collect the fluorescence information output by the third NV probe 41 . The third signal acquisition device 45 is electrically connected to the main control module 30 . The main control module 30 obtains the control parameters of the object under test at the current position according to the fluorescence information output by the third NV probe 41 .

[0104] like Figure 2 As shown, specifically, the third magnetic field generating device 44 includes a third magnetic field generating component 441 and a third magnetic control component 442. The third magnetic control component 442 is electrically connected to the third magnetic field generating component 441 and the main control module 30, and is used to adjust the magnetic field size of the third magnetic field generating component 441. By setting the third magnetic field generating device 44 to provide a compensating magnetic field or a specific static magnetic field, the detection accuracy is further improved.

[0105] It can be understood that when the third NV probe 41 is at different positions on the earth, the vector of the earth's magnetic field will have different characteristics, and the ensemble NV color center in the third NV probe 41 has different axes. When the NV color center axis is consistent with the direction of the earth's magnetic field, the fluorescence signal will have a resonant response, thereby knowing the specific direction of the earth's magnetic field. The difference in the earth's magnetic field to which the third NV probe 41 is subjected causes the fluorescence intensity it outputs and / or the frequency difference of the NV color center spin energy level splitting in the third NV probe 41 to be different, thereby measuring the strength of the earth's magnetic field. According to the measured earth's magnetic field vector, the possible position of the third NV probe 41 can be reversely deduced in combination with the existing earth's magnetic field big data, that is, the possible position of the object being measured can be reversely deduced.

[0106] Optionally, before using the Earth's magnetic field big data model, some representative locations can be selected to measure the Earth's magnetic field vector and compare it with the magnetic field vector at the corresponding position of the Earth's magnetic field big data model to correct the Earth's magnetic field big data, thereby obtaining a more accurate position of the measured object through the measured Earth's magnetic field vector and the Earth's magnetic field big data model.

[0107] The following combination Figure 1 、 Figure 2 , describing a specific embodiment of the multi-module collaborative gyroscope positioning and navigation system 100 based on NV color center of the present invention.

[0108] A multi-module collaborative gyroscope positioning and navigation system 100 based on NV color center includes: a macro inertial measurement module 10, a micro inertial measurement module 20, a geomagnetic measurement module 40, and a main control module 30.

[0109] The macro inertial measurement module 10 includes: a first NV probe 11 , a first laser device 12 , a first microwave device 13 , an active magnetic field device 14 , a first signal acquisition device 15 , a first shielding container 16 , and a first magnetic field generating device 17 .

[0110] The first NV probe 11 is configured to be mounted on the object being measured. The first laser device 12 is electrically connected to the main control module 30 and can emit laser light toward the first NV probe 11. The first microwave device 13 is electrically connected to the main control module 30 and can emit microwaves toward the first NV probe 11.

[0111] The movable magnetic field device 14 includes an elastic connector 141 and a permanent magnet 142 connected to the elastic connector 141. The elastic connector 141 is used to be mounted on the object to be measured. The permanent magnet 142 can move relative to the object to be measured through the elastic connector 141. The elastic connector 141 is an elastic colloid material that wraps the permanent magnet 142.

[0112] The first signal acquisition device 15 is configured to collect fluorescence information output by the first NV probe 11. The first signal acquisition device 15 is electrically connected to the main control module 30. The main control module 30 obtains first motion state data of the measured object based on the fluorescence information output by the first NV probe 11. The magnetic field device and the first NV probe 11 are disposed within a first shielding container 16.

[0113] The first magnetic field generating device 17 includes a first magnetic field generating component 171 and a first magnetic control component 172. The first magnetic field generating component 171 is arranged in the first shielding container 16. The first magnetic control component 172 is electrically connected to the first magnetic field generating component 171 and the main control module 30, and is used to adjust the magnetic field size of the first magnetic field generating component 171. The first magnetic control component 172 is arranged outside the first shielding container 16.

[0114] The micro-inertial measurement module 20 includes: a second NV probe 21 , a second laser device 22 , a second microwave device 23 , a second magnetic field generating device 24 , and a second signal acquisition device 25 .

[0115] The second NV probe 21 is configured to be mounted on the object being measured. The second laser device 22 is electrically connected to the main control module 30 and can emit laser light toward the second NV probe 21. The second microwave device 23 is electrically connected to the main control module 30 and can emit microwaves toward the second NV probe 21.

[0116] The second magnetic field generating device 24 is electrically connected to the main control module 30. The second magnetic field generating device 24 includes a second magnetic field generating component 241 and a second magnetic control component 242. The second magnetic field generating component 241 is disposed within the second shielding container 26. The second magnetic control component 242 is electrically connected to the second magnetic field generating component 241 and the main control module 30 and is used to adjust the magnetic field strength of the second magnetic field generating component 241.

[0117] The second signal acquisition device 25 is used to collect fluorescence information output by the second NV probe 21. The second signal acquisition device 25 is electrically connected to the main control module 30. The main control module 30 obtains the second motion state data of the measured object based on the fluorescence information output by the second NV probe 21. The second magnetic field generating device 24 and the second NV probe 21 are disposed within the second shielding container 26.

[0118] The geomagnetic measurement module 40 is electrically connected to the main control module 30 and is used to obtain reference parameters for the measured object at its current location. When the target parameters exceed the reference parameters, the main control module 30 calibrates the measured object's positioning and navigation data based on the reference parameters. The geomagnetic measurement module 40 includes a third NV probe 41, a third laser device 42, a third microwave device 43, a third magnetic field generator 44, and a third signal acquisition device 45.

[0119] The third NV probe 41 is configured to be mounted on the object being measured. The third laser device 42 is electrically connected to the main control module 30 and can emit laser light toward the third NV probe 41. The third microwave device 43 is electrically connected to the main control module 30 and can emit microwaves toward the third NV probe 41.

[0120] The third magnetic field generating device 44 is electrically connected to the main control module 30. The third magnetic field generating device 44 includes a third magnetic field generating component 441 and a third magnetic control component 442. The third magnetic control component 442 is electrically connected to the third magnetic field generating component 441 and the main control module 30 and is used to adjust the magnetic field strength of the third magnetic field generating component 441.

[0121] The third signal acquisition device 45 is used to collect the fluorescence information output by the third NV probe 41 . The third signal acquisition device 45 is electrically connected to the main control module 30 . The main control module 30 obtains the control parameters of the object under test at the current position according to the fluorescence information output by the third NV probe 41 .

[0122] The macro-inertial measurement module 10 has a relatively accurate measurement accuracy when the object being measured changes direction sharply or performs a large-scale technical action. However, the response to the slow change in the motion state of the object being measured is not obvious, and the drift is relatively serious. It is only suitable for obtaining the motion state data of the object being measured when it changes direction sharply or performs a large-scale technical action. The micro-inertial measurement module 20 is suitable for measuring the change in the slow motion state of the object being measured. When the object being measured changes direction sharply or performs a large-scale technical action, in order to reduce the influence and accumulation of the system error, the macro-inertial measurement module 10 can be used for auxiliary correction. The geomagnetic measurement module 40 can perform an overall calibration on the system drift accuracy of the macro-inertial measurement module 10 and the micro-inertial measurement module 20, thereby further improving the positioning and navigation accuracy of the entire multi-module collaborative gyroscope positioning and navigation system 100 based on NV color center.

[0123] like Figure 4 As shown, a multi-module cooperative gyroscope positioning and navigation method based on NV color centers according to an embodiment of the present invention uses the above-mentioned positioning and navigation system 100, including:

[0124] Step S1: Establishing a trust model based on the macro-inertial measurement module 10 and the micro-inertial measurement module 20. It will be appreciated that the trust model is established based on the motion state data obtained after the macro-inertial measurement module 10 and the micro-inertial measurement module 20 measure the object under test. For example, the trust model can be established based on angular velocity or acceleration, or based on the rate of change of angular velocity or acceleration, or based on the rate of change of angular velocity or acceleration. It will be appreciated that establishing the trust model based on the rate of change of the motion state of the object under test facilitates screening of the motion state data and reduces interference with the motion data when the object under test is in steady motion.

[0125] like Figure 5 As shown, in some embodiments, step S1 includes:

[0126] Step S11: The measured object is accelerated in a constant direction, and the accuracy of the first motion state data is obtained when the acceleration of the measured object gradually increases, which is greater than the acceleration critical value of the second motion state data, and the acceleration critical values ​​corresponding to the measured object at different angular velocities are obtained. It can be understood that the motion state data of the measured object are all manually set at this time, and the actual motion state data of the measured object is known. When the measured object moves in the above setting, the macro inertial measurement module 10 measures the first motion state data, and the micro inertial measurement module 20 measures the second motion state data. The accuracy of the first motion state data is greater than the accuracy of the second motion state data, that is, the first motion state data is closer to the actual motion state data than the second motion state data.

[0127] Step S13: A trusted model is formed based on the acquired acceleration and angular velocity. It is understood that the trusted model is established based on acceleration and angular velocity. The angular velocity and acceleration are used as the criteria for determining whether the motion state data falls within the trusted model. When the acceleration and angular velocity of the measured object meet the requirements of the trusted model, the motion state data falls within the range of the trusted model.

[0128] In some embodiments, step S1 includes:

[0129] Step S12: Obtaining an angular velocity critical value when the accuracy of the first motion state data is greater than the second motion state data when the angular velocity of the measured object gradually increases, and obtaining the angular velocity critical values ​​corresponding to the measured object at different accelerations. It can be understood that the motion state data of the measured object are all manually set at this time, and the actual motion state data of the measured object is known. When the measured object moves in the above-mentioned setting, the macro-inertial measurement module 10 measures the first motion state data, and the micro-inertial measurement module 20 measures the second motion state data. The accuracy of the first motion state data is greater than the accuracy of the second motion state data, that is, the first motion state data is closer to the actual motion state data than the second motion state data.

[0130] Step S13: A trusted model is formed based on the acquired acceleration and angular velocity. It is understood that the trusted model is established based on acceleration and angular velocity. The angular velocity and acceleration are used as the criteria for determining whether the motion state data falls within the trusted model. When the acceleration and angular velocity of the measured object meet the requirements of the trusted model, the motion state data falls within the range of the trusted model.

[0131] In some embodiments, step S1 includes:

[0132] Step S11: The measured object is accelerated in a constant direction, and the acceleration critical value when the accuracy of the first motion state data is greater than the second motion state data when the acceleration of the measured object gradually increases is obtained, and the acceleration critical values ​​corresponding to the measured object at different angular velocities are obtained.

[0133] Step S12: obtaining an angular velocity critical value when the accuracy of the first motion state data is greater than the second motion state data when the angular velocity of the measured object gradually increases, and obtaining the angular velocity critical values ​​corresponding to the measured object at different accelerations.

[0134] Step S13: forming a confidence model based on the acquired acceleration and angular velocity. The present invention sets step S11 and step S12, and step S12 further enriches the motion state data based on step S11 to improve the accuracy.

[0135] It should be noted that within the scope of the model, the accuracy of the first motion state data is greater than the accuracy of the second motion state data. Figure 3 As shown in the figure, the lined area is the trusted model, a is the acceleration, ω is the angular velocity, and when the angular velocity of the object being measured is Xa and the acceleration is Ya, the motion state data of the object being measured falls into the trusted model.

[0136] Step S2: When the first motion state data obtained by the macro inertial measurement module 10 and the second motion state data obtained by the micro inertial measurement module 20 do not fall within the range of the adopted model, the second motion state data is adopted; when the first motion state data obtained by the macro inertial measurement module 10 and the second motion state data obtained by the micro inertial measurement module 20 fall within the range of the adopted model, the first motion state data is adopted. It can be understood that the above-mentioned setting range can be the range of the adopted model, that is, when the angular velocity and acceleration of the measured object are within the range of the adopted model under the measurement of the macro inertial measurement module 10 and the micro inertial measurement module 20, the first motion state data is adopted, and under other conditions, the second motion state data is adopted. For example, Figure 3 As shown, the lined area in the figure is the adopted model, the first motion state data is point A, and the second motion state data is point B. The first motion state data and the second motion state data both fall within the range of the adopted model, and the first motion state data is adopted.

[0137] In some embodiments, when the first motion state data acquired by the macro-inertial measurement module 10 falls within the range of the trusted model, the first motion state data is trusted; when the first motion state data acquired by the macro-inertial measurement module 10 does not fall within the range of the trusted model, the second motion state data is trusted. By setting the first motion state data as trusted only when it falls within the range of the trusted model, the present invention simplifies processing steps, reduces motion data processing, and improves computational speed.

[0138] Step S3: Obtain target parameters of the measured object based on the adopted second motion state data and the first motion state data, and obtain positioning and navigation data of the measured object based on the target parameters. The present invention adopts the first motion state data when the first motion state data and the second motion state data fall within the range of the adopted model by setting an adopted model, thereby improving the pertinence of the data and the accuracy of positioning.

[0139] It should be noted that the first motion state data and the second motion state data can be the displacement of the measured object, and the displacement of the measured object at all times is detected and recorded. The main control module 30 obtains the target parameter based on the displacement within a period of time. The target parameter can be the coordinate change value of the measured object within a period of time. Usually, the initial coordinates of the measured object are determined. The coordinate change value is considered on the basis of the initial coordinates of the measured object, and the positioning navigation data of the measured object is finally obtained, that is, the current coordinates of the measured object. The first motion state data and the second motion state data can also be the moving angle and moving speed of the measured object. The main control module 30 can more easily obtain the displacement of the measured object from the moving angle and moving speed of the measured object, and finally obtain the coordinates where the measured object is located. Of course, the first motion state data and the second motion state data can also be the angular velocity and acceleration of the measured object, and finally can obtain the coordinates where the measured object is located.

[0140] Step S4: When the target parameter exceeds the preset range compared to the control parameter, the main control module 30 calibrates the positioning and navigation data of the measured object according to the control parameter. The present invention provides a reference for the target parameter by setting the control parameter, thereby further improving the positioning accuracy. It should be noted that the control parameter only provides a reference for the target parameter. When the control parameter is close to the target parameter, the target parameter shall prevail. When the control parameter differs greatly from the target parameter, for example, the control parameter shows that the measured object is in Beijing, while the target parameter shows that the measured object is in Shanghai, the positioning and navigation system 100 determines that the target parameter is wrong and abandons the target parameter, thereby avoiding large errors in the positioning and navigation data.

[0141] According to the multi-module collaborative gyroscope positioning and navigation method based on NV color center in an embodiment of the present invention, a macro inertial measurement module 10 is set to obtain first motion state data when the measured object is within a set range, and a micro inertial measurement module 20 is set to obtain second motion state data when the measured object is not within the set range. The motion state data is more accurate and can better reflect the actual motion state of the measured object, thereby improving positioning accuracy.

[0142] Other structures and operations of the multi-module cooperative gyroscope positioning and navigation system 100 based on NV color centers according to an embodiment of the present invention are known to ordinary technicians in this field and will not be described in detail here.

[0143] Throughout this specification, reference to terms such as "embodiment" or "example" indicates that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0144] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A multi-module collaborative gyroscope positioning and navigation system based on NV color centers, characterized in that: include: a macro-inertial measurement module, configured to obtain first motion state data of the object under test when the motion state change of the object under test is within a set range; a micro-inertial measurement module, configured to acquire second motion state data of the measured object when the motion state change of the measured object is not within the set range; a main control module, the main control module being electrically connected to the macro-inertial measurement module and the micro-inertial measurement module, the main control module obtaining target parameters according to the first motion state data and the second motion state data, and obtaining positioning and navigation data of the object under test according to the target parameters, the macro-inertial measurement module comprising: a first NV probe, the first NV probe being used to be arranged on the object under test; a first laser device, the first laser device being electrically connected to the main control module, the first laser device being capable of emitting laser light to the first NV probe; a first microwave device, the first microwave device being electrically connected to the main control module, the first microwave device being capable of emitting microwaves to the first NV probe; an active magnetic field device, the active magnetic field device comprising an elastic connector and a permanent magnet connected to the elastic connector, the elastic connector being used to be installed on the object under test, the permanent magnet being movable relative to the object under test through the elastic connector; a first signal acquisition device, the first signal acquisition device being used to acquire fluorescence information output by the first NV probe, the first signal acquisition device being electrically connected to the main control module, and the main control module acquiring the first motion state data of the object under test according to the fluorescence information output by the first NV probe.

2. The multi-module collaborative gyroscope positioning and navigation system based on NV color centers according to claim 1 is characterized in that: The macro-inertial measurement module further includes a first shielding container, and the magnetic field device and the first NV probe are arranged in the first shielding container.

3. The multi-module collaborative gyroscope positioning and navigation system based on NV color centers according to claim 2 is characterized in that: The macro inertial measurement module also includes: A first magnetic field generating device, the first magnetic field generating device includes a first magnetic field generating component and a first magnetic control component, the first magnetic field generating component is arranged in the first shielding container, the first magnetic control component is electrically connected to the first magnetic field generating component and the main control module, and is used to adjust the magnetic field size of the first magnetic field generating component.

4. The multi-module collaborative gyroscope positioning and navigation system based on NV color centers according to claim 1 is characterized in that: The micro-inertial measurement module includes: a second NV probe, the second NV probe being configured to be disposed on the object under test; a second laser device, the second laser device being electrically connected to the main control module and capable of emitting laser light toward the second NV probe; a second microwave device, the second microwave device being electrically connected to the main control module and capable of emitting microwaves to the second NV probe; a second magnetic field generating device, the second magnetic field generating device being electrically connected to the main control module; The second signal acquisition device is used to collect the fluorescence information output by the second NV probe. The second signal acquisition device is electrically connected to the main control module. The main control module obtains the second motion state data of the object under test according to the fluorescence information output by the second NV probe.

5. The multi-module collaborative gyroscope positioning and navigation system based on NV color centers according to claim 4 is characterized in that: The micro-inertial measurement module further includes a second shielding container, and the second magnetic field generating device and the second NV probe are arranged in the second shielding container.

6. The multi-module collaborative gyroscope positioning and navigation system based on NV color centers according to claim 1 is characterized in that: It also includes a geomagnetic measurement module, which is electrically connected to the main control module and is used to obtain the reference parameters of the object under test at the current position. When the target parameter exceeds the preset range compared with the reference parameter, the main control module calibrates the positioning and navigation data of the object under test according to the reference parameter.

7. The multi-module collaborative gyroscope positioning and navigation system based on NV color centers according to claim 6 is characterized in that: The geomagnetic measurement module includes: a third NV probe, the third NV probe being configured to be disposed on the object under test; a third laser device, the third laser device being electrically connected to the main control module and capable of emitting laser light toward the third NV probe; a third microwave device, the third microwave device being electrically connected to the main control module and capable of emitting microwaves toward the third NV probe; a third magnetic field generating device, the third magnetic field generating device being electrically connected to the main control module; A third signal acquisition device is used to collect the fluorescence information output by the third NV probe. The third signal acquisition device is electrically connected to the main control module. The main control module obtains the control parameters of the object under test at the current position according to the fluorescence information output by the third NV probe.

8. A multi-module collaborative gyroscope positioning and navigation method based on NV color center, characterized in that: Using the positioning navigation system according to any one of claims 1 to 7, the method comprises: Step S1: establishing a trust model based on the macro inertial measurement module and the micro inertial measurement module; Step S2: when the first motion state data acquired by the macroscopic inertial measurement module and the second motion state data acquired by the microscopic inertial measurement module do not fall within the range of the adopted model, adopting the second motion state data; when the first motion state data acquired by the macroscopic inertial measurement module and the second motion state data acquired by the microscopic inertial measurement module fall within the range of the adopted model, adopting the first motion state data; Step S3: acquiring the target parameters of the measured object according to the second motion state data and the first motion state data, and acquiring the positioning and navigation data of the measured object according to the target parameters.

9. The multi-module collaborative gyroscope positioning and navigation method based on NV color centers according to claim 8 is characterized in that: The step S1 comprises: The measured object is accelerated in a constant direction, and a critical value of acceleration is obtained when the accuracy of the first motion state data is greater than the second motion state data when the acceleration of the measured object gradually increases, and the critical values ​​of acceleration corresponding to the measured object at different angular velocities are obtained, and / or a critical value of angular velocity is obtained when the accuracy of the first motion state data is greater than the second motion state data when the angular velocity of the measured object gradually increases, and the critical values ​​of angular velocity corresponding to the measured object at different accelerations are obtained; The acquired acceleration and angular velocity are fitted to form the acquired model.

10. The multi-module collaborative gyroscope positioning and navigation method based on NV color centers according to claim 8 is characterized in that: The positioning and navigation system includes a geomagnetic measurement module, which is electrically connected to the main control module and is used to obtain a reference parameter of the measured object at a current position. The method further includes: Step S4: When the target parameter exceeds a preset range compared to the control parameter, the main control module calibrates the positioning and navigation data of the measured object according to the control parameter.

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