Compact atom interference inertial measurement device and method based on magnetic field casting technology

Abstract

The invention relates to a compact atomic interference inertial measurement device and method based on a magnetic field casting technology. Comprising a vacuum cavity, a magnetic shielding cover, an ion pump, a quarter-wave plate, an accelerometer, a passive vibration isolation platform, a notebook computer, a fluorescence collection device, an atomic group, a zero-degree reflector, a first cooling laser pair, a second cooling laser pair, a third cooling laser pair, a first Raman laser pair, a second Raman laser pair, a third Raman laser pair and a first detection laser pair. A first detection laser pair, a second detection laser pair, a third detection laser pair, a first multifunctional coil pair, a second multifunctional coil pair and a third multifunctional coil pair. According to the invention, by controlling the current and direction of the gradient magnetic field and the casting magnetic field in time sequence, accurate casting and speed regulation of the atomic group in the three-dimensional direction are realized.

Description

Technical Field

[0001] The invention belongs to the technical field of atomic interference and atomic inertial navigation, and relates to a compact atomic interference inertial measurement device and method, in particular to a compact atomic interference inertial measurement device and method based on magnetic field ejection technology. Background Art

[0002] Traditional inertial navigation systems use classic inertial elements such as accelerometers and gyroscopes to measure changes in the carrier's own motion state, and acquire the carrier's attitude and position based on initial parameters. They have high autonomy and are not easily interfered with, and are widely used in military and civilian fields.

[0003] However, due to the inherent drift of the inertial element itself, the positioning and navigation accuracy of the inertial navigation system will deteriorate over time and need to be corrected regularly, making it difficult for the inertial navigation system to fully realize its technical potential. Inertial sensors based on atomic interferometry technology have the advantages of ultra-high precision, independence from GPS, no long-term drift, and simultaneous measurement of multiple inertial quantities. They have broad application prospects in inertial measurement, basic physics research, and resource exploration, and are considered to be an important development direction for the next generation of high-precision inertial navigation systems.

[0004] Since the phase shift caused by acceleration and angular velocity needs to be differentially decoupled, atom interferometers usually adopt a counter-beam configuration, which makes it difficult to further reduce the volume of atomic inertial measurement devices. In addition, the use of a counter-beam configuration means that the cold atomic clusters need to be ejected from both ends, which usually requires controlling the frequency or power of three pairs of cooling lasers, which also increases the difficulty of implementing the circuit control system. In addition, in order to maintain the stability of the ejected atomic speed, active stabilization measures are generally required for the frequency and power of the laser, which increases the complexity of the optical path system.

[0005] Therefore, the present invention proposes a compact atomic interferometry inertial measurement device and method based on magnetic field ejection technology.

[0006] After searching, no prior art documents identical or similar to the present invention were found. Summary of the invention

[0007] The purpose of the present invention is to overcome the shortcomings of the prior art and to propose a compact atomic interferometry inertial measurement device and method based on magnetic field ejection technology, which realizes precise ejection and speed control of atomic clusters in three-dimensional directions by controlling the current and direction of the gradient magnetic field and the ejection magnetic field in time sequence.

[0008] The present invention solves the practical problem by adopting the following technical solutions:

[0009] A compact atomic interferometric inertial measurement device based on magnetic field ejection technology, comprising a vacuum cavity, a magnetic shield, an ion pump, a quarter wave plate, an accelerometer, a passive vibration isolation platform, a laptop computer, a fluorescence collection device, an atomic group, a zero-degree reflector, a first cooling laser pair, a second cooling laser pair, a third cooling laser pair, a first Raman laser pair, a second Raman laser pair, a third Raman laser pair, a first detection laser pair, a second detection laser pair, a third detection laser pair, a first multifunctional coil pair, a second multifunctional coil pair and a third multifunctional coil pair;

[0010] The vacuum chamber is located inside the magnetic shield and is only connected to the ion pump to maintain the vacuum degree of the system; the ion pump is located outside the magnetic shield to prevent the influence of residual magnetism on the interference measurement;

[0011] The three groups of cooling laser pairs are coaxial with the three groups of multifunctional coil pairs respectively, and are consistent with the directions of the x-axis, y-axis and z-axis, so as to form a magneto-optical trap, cool and capture background atoms, and generate atomic clusters; the atomic clusters are located at the geometric center of the cooling laser pairs and the multifunctional coil pairs;

[0012] The three groups of Raman laser pairs are coaxial with the x-axis, y-axis and z-axis respectively, and are geometrically coaxial with the three groups of cooling laser pairs and the three groups of multifunctional coil pairs, and are used to act on the atomic group from the x-axis, y-axis and z-axis directions to generate atomic interference in the corresponding directions; the atomic group is located at the geometric center of the three groups of Raman laser pairs;

[0013] The three groups of detection laser pairs irradiate the atomic groups along the x-axis, y-axis and z-axis respectively, so as to make the atoms generate resonance transition radiation fluorescence signals; the three groups of detection laser pairs are respectively located at the edges of the three groups of Raman laser pairs in corresponding directions.

[0014] The three sets of multifunctional coil pairs act as gradient coils, translation coils and bias coils respectively during the atomic interference process. In the gradient coil, the current directions of the two coils are opposite and the magnitudes are the same; in the translation coil and bias coil, the current directions and magnitudes of the two coils are the same.

[0015] The fluorescence collection device is located perpendicular to the plane formed by the first detection laser pair and the third Raman laser pair, that is, coaxial with the y-axis, and is used to collect the fluorescence signal emitted by the atomic group irradiated by the detection laser pair. The collected signal is transmitted to the laptop computer through the radio frequency connection line.

[0016] Moreover, the quarter wave plate, the zero degree reflector, the accelerometer, and the passive vibration isolation platform are coaxially installed in order from top to bottom; the quarter wave plate is used to adjust the polarization of the incident third Raman laser after being reflected by the zero degree reflector to an orthogonal polarization; the zero degree reflector is placed on the accelerometer, and the accelerometer is placed on the passive vibration isolation platform.

[0017] Moreover, after the atomic clusters have been cooled, selected, and interfered, the first detection laser is used to irradiate the atoms, and the fluorescence collection device is used to convert the optical signal into an electrical signal, which is then sent to a laptop computer for data processing.

[0018] A measurement method of a compact atomic interferometer inertial measurement device based on magnetic field ejection technology comprises the following steps:

[0019] Step 1: three groups of cooling laser pairs and three groups of multifunctional coil pairs form a three-dimensional magneto-optical trap, and then through a period of cooling and trapping atoms, an atomic cluster is formed in the geometric center area of ​​the three-dimensional magneto-optical trap;

[0020] Step 2: In the x-axis direction, control the current and direction of the first multifunctional coil pair, and in the first interference period, move the atom cluster from the geometric center of the third Raman laser pair to the -x direction; then the current and direction of the first multifunctional coil pair are configured as a parabola loop, and the atom cluster obtains an initial velocity in the +x direction. At this time, adjust the current and direction of the first multifunctional coil pair again, configure it as a bias magnetic field, and irradiate the third Raman laser pair to the atom cluster three times from the z direction in the sequence of T / 2-TT / 2, forming an interference loop (-c)-d1-e-d2. Then, irradiate the third detection laser pair in the z-axis direction, collect interference information through the fluorescence collection device 108, and obtain α +k,-v Then, the laser chirp scanning frequency is reversed and the above interference process is repeated again to obtain α -k,-v , and record the output of the accelerometer

[0021] Step 3, in the second interference cycle, move the atom cluster from the geometric center of the third Raman laser pair to the +x direction. Then the current and direction of the first multifunctional coil pair are configured as a parabola, and the atom cluster obtains an initial velocity in the -x direction; at this time, the current and direction of the first multifunctional coil pair are adjusted again, configured as a bias magnetic field, and the third Raman laser pair is irradiated to the atom cluster three times from the z direction according to the sequence of T / 2-TT / 2, forming an interference loop c-d1-(-e)-d2. Then, the third detection laser pair is irradiated in the z-axis direction, and the interference information is collected by the fluorescence collection device to obtain α +k,+v Then, the laser chirp scanning frequency is reversed and the above interference process is repeated again to obtain α -k,+v , and record the output of the accelerometer

[0022] Step 4: Comprehensively process the information obtained in step 2 and step 3 to calculate the y-axis angular velocity Ω of the atomic inertial information y and z-axis acceleration a z ;

[0023] Step 5: Repeat steps 2-4 and configure the Raman laser pair and the multi-function coil pair to calculate the z-axis angular velocity Ω in turn. z and the x-axis acceleration a x , and the x-axis angular velocity Ω x and the y-axis acceleration a y .

[0024] Moreover, the solution formula of step 4 is:

[0025]

[0026] In the formula, α i,j (i=±k,j=±v) represents the intercontinental frequency of the Raman laser when the effective wave vector of the Raman laser is ±k and the atomic velocity is ±v, Represents the change in acceleration when the atomic velocity reverses.

[0027] Advantages and beneficial effects of the present invention:

[0028] 1. The present invention proposes a method for ejecting atoms based on magnetic field technology, which realizes the translation and ejection of atoms by controlling the current direction and magnitude of a pair of magnetic field coils, thereby reducing the complexity of the atomic ejection system and improving the stability and repeatability of the ejection speed;

[0029] 2. The present invention designs a compact atomic interferometry inertial measurement device, which can use a single cold atomic group to sequentially realize the inertial parameter measurement of three-axis acceleration and three-axis angular velocity in the same vacuum cavity through time-division multiplexing, laying the foundation for the realization of atomic inertial measurement unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of a compact atomic interferometric inertial measurement device based on magnetic field ejection technology of the present invention;

[0031] Figure 2 It is a schematic diagram of atomic interference of the present invention;

[0032] Figure 3 It is a measurement timing diagram of angular velocity and acceleration of the present invention.

[0033] Description of reference numerals:

[0034]

[0035] DETAILED DESCRIPTION

[0036] The following further describes the embodiments of the present invention:

[0037] A compact atomic interferometry inertial measurement device based on magnetic field ejection technology, such as Figure 1 As shown, it includes a vacuum chamber 101, a magnetic shielding cover 102, an ion pump 103, a quarter wave plate 104, an accelerometer 105, a passive vibration isolation platform 106, a laptop computer 107, a fluorescence collection device 108, an atomic group 109, a zero-degree reflector 110, a first cooling laser pair 201, a second cooling laser pair 202, a third cooling laser pair 203, a first Raman laser pair 301, a second Raman laser pair 302, a third Raman laser pair 303, a first detection laser pair 401, a second detection laser pair 402, a third detection laser pair 403, a first multifunctional coil pair 501, a second multifunctional coil pair 502 and a third multifunctional coil pair 503;

[0038] The vacuum chamber 101 is located inside the magnetic shield 102 and is only connected to the ion pump 103 to maintain the vacuum degree of the system; the ion pump 103 is located outside the magnetic shield 102 to prevent the influence of residual magnetism on the interference measurement.

[0039] The three groups of cooling laser pairs 201, 202 and 203 are coaxial with the three groups of multifunctional coil pairs 501, 502 and 503 respectively, and are consistent with the directions of the x-axis, y-axis and z-axis, forming a magneto-optical trap to cool and capture background atoms and generate atomic clusters 109. The atomic clusters 109 are located at the geometric center of the cooling laser pairs and the multifunctional coil pairs.

[0040] The three groups of Raman laser pairs 301, 302 and 303 are coaxial with the x-axis, y-axis and z-axis respectively, and are geometrically coaxial with the three groups of cooling laser pairs and the three groups of multifunctional coil pairs, and are used to interact with the atomic group 109 from the x-, y- and z-directions to generate atomic interference in the corresponding directions. The atomic group 109 is located at the geometric center of the three groups of Raman laser pairs.

[0041] The three detection laser pairs 401, 402 and 403 irradiate the atomic group 109 along the x-axis, y-axis and z-axis respectively to make the atoms generate resonance transition radiation fluorescence signals. The three detection laser pairs are respectively located at the edges of the three Raman laser pairs in the corresponding directions.

[0042] The three sets of multifunctional coil pairs 501, 502 and 503 act as gradient coils, translation coils and bias coils respectively during the atomic interference process. In the gradient coil, the current directions of the two coils are opposite and the magnitudes are the same; in the translation coil and bias coil, the current directions and magnitudes of the two coils are the same.

[0043] The fluorescence collection device 108 is located in a plane perpendicular to the plane formed by the first detection laser pair 401 and the third Raman laser pair 303, that is, coaxial with the y-axis (perpendicular to the paper direction), and is used to detect the fluorescence signal emitted by the laser pair 401 irradiating the atomic group 109. The collected signal is transmitted to the laptop computer 107 via a radio frequency connection line.

[0044] The quarter wave plate 104, the zero-degree reflector 110, the accelerometer 105, and the passive vibration isolation platform 106 are coaxially installed in order from top to bottom. The quarter wave plate 104 is used to adjust the polarization of the incident third Raman laser after being reflected by the zero-degree reflector 110 to an orthogonal polarization; in order to eliminate the influence of vibration noise during the measurement process, the zero-degree reflector 110 is placed on the accelerometer 105, and the accelerometer 105 is placed on the passive vibration isolation platform 106.

[0045] After the atomic cluster 109 is cooled, selected, and interfered, the first detection laser 401 is used to irradiate the atoms, and the fluorescence collection device 108 converts the optical signal into an electrical signal and sends it to the laptop computer 107 for data processing.

[0046] In this embodiment, a compact atomic interferometric inertial measurement device based on magnetic field ejection technology is provided. Taking the x-axis as an example, when the third gradient coil pair 503 in the x-direction is used for atom capture, the first multifunctional coil pair 501 and the second multifunctional coil pair 502 serve as translation coils and ejection coils in the y-direction and z-direction, respectively; the current directions in the gradient coil pair and the ejection coil pair are opposite, generating a gradient magnetic field. The current directions in the translation coil pair are the same, generating a uniform magnetic field; the translation coil pair and the ejection coil pair in the y-direction and the z-direction are the same pair of coils, but the current direction and current magnitude at different times in the timing control of atomic interference are configured according to requirements; the magnetic field configuration in the y-direction and the z-direction is the same as that in the x-direction.

[0047] like Figure 2 As shown on the left. In the atomic cooling stage, taking the vertical direction as an example, the multifunctional coil pair 503 is configured as a gradient coil, and the currents in the coils are opposite in direction and equal in magnitude, so that a gradient magnetic field is generated at the center of the coil. The three groups of cooling laser pairs 201, 202 and 203 and the multifunctional coil pair 503 form a three-dimensional magneto-optical trap, forming an atomic cluster 109 in a few hundred milliseconds. At the end of the atomic cooling, the multifunctional coil pair 501 in the horizontal direction is configured as a translation coil, and the atomic cluster 109 is translated from the center point a to the left, and the translation distance is proportional to the current magnitude.

[0048] A compact atomic interferometric inertial measurement method based on magnetic field ejection technology. The ejection method of the atomic cluster is as follows. Taking the x-axis as an example, first, when the atomic cluster is translated along the -x direction to the edge of the Raman light in the y direction, the current in a pair of translation coils is modified to the opposite direction and configured as a projectile coil, and a gradient magnetic field is generated in the middle of the coil. Due to the Stern-Gerlach effect, the atoms will feel the force generated by the gradient magnetic field, thereby obtaining the speed of movement in that direction. By changing the current size of the projectile coil, the atomic cluster obtains an ejection speed +v xThen, in the next measurement cycle, the above operation is repeated. By changing the current direction of the projectile coil, the atomic group obtains the projectile velocity -v x . The method of atomic ejection in the y and z directions is the same as that in the x direction. Then, turn off the gradient coil pair 503, and reduce the power of the three pairs of cooling laser pairs 201, 202 and 203 to polarize the atomic cluster 109 with gradient cooling, and the temperature reaches 1-2μK. Then, turn off the cooling laser pairs 202, 202 and 203, and the atomic cluster 109 will begin to fall from point -b under the action of gravity. At the same time, configure the multifunctional coil 501 as a projectile coil, and the atomic cluster 109 will obtain a horizontal rightward force, the magnitude of which is proportional to the magnetic field gradient formed by the projectile coil, as shown in the following formula:

[0049]

[0050] In the formula, is the magnetic field force exerted by the parabola, μ B is the Bohr magneton, m F is the atomic magnetic energy level, is the magnetic field gradient formed by the parabolic loop. Then the atomic cluster 109 will start parabolic motion under the action of horizontal speed and gravity. When the atomic cluster 109 reaches point -c, the Raman laser pair 303 in the numerical direction is configured as a π / 2 pulse, the atom will be in a quantum superposition state, and the motion trajectory will be divided into two independent paths. When the atomic cluster 109 moves to the center of the Raman laser pair 303, a π pulse is applied, and the two motion trajectories of the atom are deflected in the opposite direction. When the atomic cluster 109 moves to the right edge of the Raman laser pair 303, an optimal π / 2 pulse is applied to form a closed interference path -cd1ed2. Then, when the atomic cluster 109 reaches point f, the detection laser pair 403 in the vertical direction is irradiated to obtain the atomic interference phase shift ΔΦ

[0051]

[0052] In the formula, is the effective wave vector of the Raman laser, is the acceleration sensed by the carrier, is the angular velocity sensed by the carrier, is the initial velocity of the atomic group 109 in the horizontal direction, α is the chirp frequency of the Raman laser, and T is the Raman pulse interval. Similarly, in the next measurement cycle, the above process is repeated, and the gradient direction of the projectile circle is reversed, then the atomic group 109 will obtain an initial velocity to the left horizontally. (like Figure 2 shown on the right).

[0053] Usually, in order to improve the sensitivity of interferometric measurement, the working point of atomic interference is usually fixed at the center of the interference fringe. In this way, by measuring the phase shift of the centers of two adjacent fringe lines, the chirp frequency α of the Raman laser can be calculated. At the same time, in order to eliminate non-inertial system errors, it is necessary to alternately change and Thus, by Figure 3 The measurement sequence shown, using 4 measurements can be solved for acceleration and angular velocity

[0054]

[0055] In the formula, α i,j (i=±k,j=±v) represents the intercontinental frequency of the Raman laser when the effective wave vector of the Raman laser is ±k and the atomic velocity is ±v, Represents the change in acceleration when the atomic velocity reverses.

[0056] A compact atomic interferometry inertial measurement method based on magnetic field ejection technology comprises the following steps:

[0057] Step 1: Figure 1 As shown, three groups of cooling laser pairs 201, 202 and 203 and three groups of multifunctional coil pairs 501, 502 and 503 form a three-dimensional magneto-optical trap, and then through a period of cooling and trapping atoms, an atomic cluster 109 is formed in the geometric center area of ​​the three-dimensional magneto-optical trap;

[0058] Step 2. In the x-axis direction, control the current and direction of the first multifunctional coil pair 501, and in the first interference period, move the atomic cluster 109 from the geometric center of the third Raman laser pair 303 to the -x direction. Then the current and direction of the first multifunctional coil pair 501 are configured as a parabola loop, and the atomic cluster 109 obtains an initial velocity in the +x direction. At this time, adjust the current and direction of the first multifunctional coil pair 501 again, configure it as a bias magnetic field, and irradiate the third Raman laser pair 303 to the atomic cluster 109 three times from the z direction according to the sequence of T / 2-TT / 2, forming an interference loop (-c)-d1-e-d2. Then, irradiate the third detection laser pair 403 in the z-axis direction, collect interference information through the fluorescence collection device 108, and obtain α +k,-v Then, the laser chirp scanning frequency is reversed and the above interference process is repeated again to obtain α -k,-v , and record the output of the accelerometer

[0059] Step 3, similar to step 2, in the second interference period, the atomic cluster 109 is moved from the geometric center of the third Raman laser pair 303 to the +x direction. Then the current and direction of the first multifunctional coil pair 501 are configured as a parabola loop, and the atomic cluster 109 obtains an initial velocity in the -x direction. At this time, the current and direction of the first multifunctional coil pair 501 are adjusted again, configured as a bias magnetic field, and the third Raman laser pair 303 is irradiated to the atomic cluster 109 three times from the z direction according to the sequence of T / 2-TT / 2, forming an interference loop c-d1-(-e)-d2. Then, the third detection laser pair 403 is irradiated in the z-axis direction, and the interference information is collected by the fluorescence collection device 108 to obtain α +k,+v Then, the laser chirp scanning frequency is reversed and the above interference process is repeated again to obtain α -k,+v , and record the output of the accelerometer

[0060] Step 4: Comprehensively process the information obtained in step 2 and step 3, and use formula (3) to calculate the y-axis angular velocity Ω of the atomic inertial information. y and z-axis acceleration a z ;

[0061] Step 5: Similarly, repeat steps 2-4 and configure the Raman laser pair and the multifunctional coil pair to successively calculate the z-axis angular velocity Ω z and the x-axis acceleration a x , and the x-axis angular velocity Ω x and the y-axis acceleration a y .

[0062] A compact atomic inertial measurement method using magnetic field ejection technology, the measurement principle is as follows. In a vacuum chamber 101, a single cold atomic group 109 is used to measure the three-axis acceleration and three-axis angular velocity. It should be noted that when measuring the angular velocity of the perpendicular interference plane, the acceleration in the Raman light direction is measured at the same time. Then, atomic interference is manipulated in the other two perpendicular directions in turn, and finally, through six atomic ejections and atomic interference, the measurement of six inertial quantities is achieved.

[0063] A compact atomic interferometric inertial measurement method based on magnetic field ejection technology, the decoupling method of acceleration and angular velocity is as follows. Taking the x direction as an example, the fringe locking method is used to configure the working points of the atomic interference at the left center and the right center of the central interference fringe. Then, the frequency chirp rates α± of the Raman laser are calculated respectively. At the same time, in order to eliminate non-inertial system errors, the directions of the effective wave vector keff of the Raman laser and the atomic ejection velocity v are changed respectively during the measurement process. In this way, a set of acceleration and angular velocity measurement values ​​can be obtained through 8 measurements. Similarly, the above process is repeated 16 times, and the measurement values ​​of acceleration and angular velocity in the other two directions can be obtained in turn.

[0064] A compact atomic interferometric inertial measurement method based on magnetic field ejection technology, the translation method of the atomic group 109 is as follows. Taking the x-axis as an example, first, after the magneto-optical trap captures the atomic group 109, a pair of translation coils 501 are configured in the direction of atomic ejection, and currents in the same direction are applied to the coils, which will generate a uniform magnetic field of Gaussian magnitude in the middle of the coils. Due to the introduction of this magnetic field, the center of the magnetic field trap will be translated to the position in the -y direction, and the displacement size is proportional to the magnetic field current. Then, in the next interference cycle, the capture process of the above-mentioned atomic group is repeated, the current direction in the translation coil is changed, and the center of the magneto-optical trap is translated to the position in the +y direction. The translation method of the atomic group in the y-axis and z-axis is the same as that of the x-axis.

[0065] A compact atomic interferometric inertial measurement method based on magnetic field ejection technology. The ejection method of the atomic cluster is as follows. Taking the x-axis as an example, first, when the atomic cluster is translated along the -x direction to the edge of the Raman light in the y direction, the current in a pair of translation coils is modified to the opposite direction and configured as a projectile coil, and a gradient magnetic field is generated in the middle of the coil. Due to the Stern-Gerlach effect, the atoms will feel the force generated by the gradient magnetic field, thereby obtaining the speed of movement in that direction. By changing the current size of the projectile coil, the atomic cluster obtains an ejection speed +v x Then, in the next measurement cycle, the above operation is repeated. By changing the current direction of the projectile coil, the atomic group obtains the projectile velocity -v x The method of atomic ejection in the y and z directions is the same as that in the x direction.

[0066] It should be emphasized that the embodiments of the present invention are illustrative rather than restrictive. Therefore, the present invention includes but is not limited to the embodiments described in the specific implementation modes. Any other implementation modes derived by those skilled in the art based on the technical solutions of the present invention also fall within the scope of protection of the present invention.

Claims

1. A compact atomic interferometry inertial measurement device based on magnetic field ejection technology, characterized in that: It includes a vacuum chamber, a magnetic shield, an ion pump, a quarter wave plate, an accelerometer, a passive vibration isolation platform, a laptop computer, a fluorescence collection device, an atomic group, a zero-degree reflector, a first cooling laser pair, a second cooling laser pair, a third cooling laser pair, a first Raman laser pair, a second Raman laser pair, a third Raman laser pair, a first detection laser pair, a second detection laser pair, a third detection laser pair, a first multifunctional coil pair, a second multifunctional coil pair, and a third multifunctional coil pair; The vacuum chamber is located inside the magnetic shield and is only connected to the ion pump to maintain the vacuum degree of the system; the ion pump is located outside the magnetic shield to prevent the influence of residual magnetism on the interference measurement; The three groups of cooling laser pairs are coaxial with the three groups of multifunctional coil pairs respectively, and are consistent with the directions of the x-axis, y-axis and z-axis, so as to form a magneto-optical trap, cool and capture background atoms, and generate atomic clusters; the atomic clusters are located at the geometric center of the cooling laser pairs and the multifunctional coil pairs; The three groups of Raman laser pairs are coaxial with the x-axis, y-axis and z-axis respectively, and are geometrically coaxial with the three groups of cooling laser pairs and the three groups of multifunctional coil pairs, and are used to act on the atomic group from the x-axis, y-axis and z-axis directions to generate atomic interference in the corresponding directions; the atomic group is located at the geometric center of the three groups of Raman laser pairs; The three groups of detection laser pairs irradiate the atomic groups along the x-axis, y-axis and z-axis respectively, so as to make the atoms generate resonance transition radiation fluorescence signals; the three groups of detection laser pairs are respectively located at the edges of the three groups of Raman laser pairs in corresponding directions; The three sets of multifunctional coil pairs act as gradient coils, translation coils and bias coils respectively during the atomic interference process. In the gradient coil, the current directions of the two coils are opposite and the magnitudes are the same; in the translation coil and the bias coil, the current directions and magnitudes of the two coils are the same; The fluorescence collection device is located perpendicular to the plane formed by the first detection laser pair and the third Raman laser pair, that is, coaxial with the y-axis, and is used to collect the fluorescence signal emitted by the atomic group irradiated by the detection laser pair. The collected signal is transmitted to the laptop computer through the radio frequency connection line.

2. According to claim 1, a compact atomic interferometry inertial measurement device based on magnetic field ejection technology is characterized in that: The quarter wave plate, the zero-degree reflector, the accelerometer, and the passive vibration isolation platform are coaxially installed in order from top to bottom; the quarter wave plate is used to adjust the polarization of the incident third Raman laser after being reflected by the zero-degree reflector to an orthogonal polarization; Place a zero-degree mirror over the accelerometer, and place the accelerometer on a passive vibration isolation platform.

3. The compact atomic interferometry inertial measurement device based on magnetic field ejection technology according to claim 1, characterized in that: After the atomic clusters are cooled, selected, and interfered, the first detection laser is used to irradiate the atoms, and the fluorescence collection device is used to convert the optical signal into an electrical signal, which is then sent to a laptop computer for data processing.

4. A measurement method for a compact atomic interferometer inertial measurement device based on magnetic field ejection technology, characterized in that: The following steps are involved: Step 1: three groups of cooling laser pairs and three groups of multifunctional coil pairs form a three-dimensional magneto-optical trap, and then through a period of cooling and trapping atoms, an atomic cluster is formed in the geometric center area of ​​the three-dimensional magneto-optical trap; Step 2: In the x-axis direction, the current and direction of the first multifunctional coil pair are controlled, and in the first interference period, the atom cluster is moved from the geometric center of the third Raman laser pair to the -x direction; then the current and direction of the first multifunctional coil pair are configured as a parabola loop, and the atom cluster obtains an initial velocity in the +x direction; at this time, the current and direction of the first multifunctional coil pair are adjusted again, configured as a bias magnetic field, and the third Raman laser pair is irradiated onto the atom cluster three times from the z direction in the sequence of T / 2-TT / 2 to form an interference loop (-c)-d1-e-d2; then, the third detection laser pair is irradiated in the z-axis direction, and interference information is collected through the fluorescence collection device 108 to obtain α +k,-v Then, the laser chirp scanning frequency is reversed and the above interference process is repeated again to obtain α -k,-v , and record the output of the accelerometer Step 3, in the second interference period, the atomic group is moved from the geometric center of the third Raman laser pair to the +x direction; then the current and direction of the first multifunctional coil pair are configured as a parabola coil, and the atomic group obtains an initial velocity in the -x direction; At this time, the current and direction of the first multifunctional coil pair are adjusted again to configure the bias magnetic field, and the third Raman laser pair is irradiated to the atomic group three times in the sequence of T / 2-TT / 2 from the z direction to form an interference loop c-d1-(-e)-d2; then, the third detection laser pair is irradiated in the z-axis direction, and the interference information is collected by the fluorescence collection device to obtain α +k,+v Then, the laser chirp scanning frequency is reversed and the above interference process is repeated again to obtain α -k,+v , and record the output of the accelerometer Step 4: Comprehensively process the information obtained in step 2 and step 3 to calculate the y-axis angular velocity Ω of the atomic inertial information y and z-axis acceleration a z ; Step 5: Repeat steps 2-4 and configure the Raman laser pair and the multi-function coil pair to calculate the z-axis angular velocity Ω in turn. z and the x-axis acceleration a x , and the x-axis angular velocity Ω x and the y-axis acceleration a y .

5. The measurement method of a compact atomic interferometer inertial measurement device based on magnetic field ejection technology according to claim 4 is characterized in that: The solution formula of step 4 is: In the formula, α i,j (i=±k,j=±v) represents the intercontinental frequency of the Raman laser when the effective wave vector of the Raman laser is ±k and the atomic velocity is ±v, Represents the change in acceleration when the atomic velocity reverses.

Images