Compact atomic interferometer inertial measurement device and method based on magnetic field ejection technology

Abstract

The application relates to a compact atomic interference inertial measurement device and method based on a magnetic field projection technology, which comprises 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, 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 application controls the current and direction of the gradient magnetic field and the projection magnetic field in time sequence, realizes accurate projection and speed regulation of the atomic group in three-dimensional directions.

Description

TECHNICAL FIELD

[0001] The present application 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

[0002] The traditional inertial navigation system utilizes classical inertial elements such as accelerometers and gyroscopes to measure the change of the motion state of the carrier itself, and realizes the acquisition of the attitude and position of the carrier according to the initial parameters, has high autonomy, and is not easy to be disturbed, and has wide application 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 with the accumulation of time, and it needs to be corrected regularly, which makes it difficult for the inertial navigation system to fully exert its technical potential. The inertial sensor based on atomic interference technology has the advantages of ultra-high precision, independence on GPS, no long-term drift and simultaneous measurement of multiple inertial quantities, and has wide application prospects in inertial measurement, basic physical research and resource exploration, and is considered as an important development direction of the next generation of high-precision inertial navigation system.

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

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

[0006] After searching, no existing technology literature similar to the present application has been found. SUMMARY

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

[0008] The present application solves its practical problems by adopting the following technical scheme:

[0009] A compact atomic interferometer inertial measurement device based on magnetic field propulsion technology, comprising a vacuum cavity, a magnetic shield, 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 mirror, 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 probe laser pair, a second probe laser pair, a third probe laser pair, a first multifunctional coil pair, a second multifunctional coil pair, and a third multifunctional coil pair;

[0010] The vacuum cavity is located inside the magnetic shield and is only communicated with 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 sets of cooling laser pairs are coaxial with the three sets of multifunctional coil pairs and consistent with the x-axis, y-axis and z-axis directions, and constitute a magnetic optical trap to cool and capture background atoms and generate an atomic group; the atomic group is located at the geometric center of the cooling laser pairs and the multifunctional coil pairs;

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

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

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

[0015] The fluorescence collection device is located coaxially with the y-axis perpendicular to the plane constituted by the first probe laser pair and the third Raman laser pair, and is used to collect the fluorescence signals emitted by the atomic group irradiated by the probe laser pair; the collected signals are transmitted to the notebook computer through the radio frequency connection line.

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

[0017] Moreover, after the atomic clusters are cooled, selected, and interfered with, the atoms are irradiated with a first detection laser, and the light signal is converted into an electrical signal by a fluorescence collection device and sent to a laptop computer for data processing.

[0018] A measurement method for a compact atomic interferometric inertial measurement device based on magnetic field ejection technology includes the following steps:

[0019] Step 1: Three sets of cooling laser pairs and three sets of multifunctional coil pairs constitute a three-dimensional magneto-optical trap. Then, through a period of cooling and trapping atoms, an atomic cluster is formed in the geometric center region 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. During the first interference cycle, move the atomic cluster from the geometric center of the third Raman laser pair towards the -x direction. Then, configure the current and direction of the first multifunctional coil pair as a parabolic loop, and the atomic cluster obtains an initial velocity in the +x direction. At this time, readjust the current and direction of the first multifunctional coil pair to configure it as a bias magnetic field, and irradiate the atomic cluster three times from the z-direction in the sequence T / 2-TT / 2, forming an interference loop (-c)-d1-e-d2. Then, irradiate the third detector laser pair in the z-axis direction, and collect the interference information 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 to obtain α. -k,-v And record the output of the accelerometer.

[0021] Step 3: In the second interference period, the atomic cluster is moved towards the +x direction from the geometric center of the third Raman laser pair. Then, the current and direction of the first multifunctional coil pair are configured as a projectile loop, and the atomic cluster acquires an initial velocity in the -x direction. At this point, the current and direction of the first multifunctional coil pair are adjusted again to form a bias magnetic field, and the third Raman laser pair is irradiated onto the atomic cluster three times in the z-direction according to the sequence T / 2-TT / 2, forming an interference loop c-d1-(-e)-d2. Then, the third detector laser pair is irradiated in the z-axis direction, and interference information is collected through a fluorescence collection device to obtain α. +k,+v Then, the laser chirp scanning frequency is reversed, and the above interference process is repeated to obtain α. -k,+v And record the output of the accelerometer.

[0022] Step 4: Combine the information obtained in Step 2 and Step 3 to calculate the y-axis angular velocity Ω of the atomic inertia information. y and z-axis acceleration a z ;

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

[0024] Furthermore, the solution formula for 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 is ±k and the atomic velocity is ±v. This represents the change in acceleration when the atomic velocity reverses.

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

[0028] 1. This invention proposes a method for projecting atoms based on magnetic field technology. By controlling the direction and magnitude of the current in a pair of magnetic field coils, the translation and projecting of atoms are achieved, reducing the complexity of the atom projecting system and improving the stability and repeatability of the projecting speed.

[0029] 2. This invention designs a compact atomic interferometric inertial measurement device. Through time-division multiplexing, it can use a single cold atom cluster to sequentially measure the inertial parameters of triaxial acceleration and triaxial angular velocity in the same vacuum cavity, laying the foundation for the realization of atomic inertial measurement units. Attached Figure Description

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

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

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

[0033] Explanation of reference numerals in the attached figures:

[0034]

[0035] Detailed Implementation

[0036] The embodiments of the present invention will be further described in detail below:

[0037] A compact atomic interferometric inertial measurement device based on magnetic field projectile technology, such asFigure 1 As shown, it includes a vacuum chamber 101, a magnetic shield 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 cluster 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 multi-functional coil pair 501, a second multi-functional coil pair 502, and a third multi-functional 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 level of the system; the ion pump 103 is located outside the magnetic shield 102 to prevent residual magnetism from affecting the interferometric measurement.

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

[0040] The three 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 cooling laser pairs and the three multifunctional coil pairs. They are used to interact with atomic cluster 109 from the x, y, and z directions to produce atomic interference in the corresponding directions. The atomic cluster 109 is located at the geometric center of the three Raman laser pairs.

[0041] The three sets of detector lasers 401, 402, and 403 irradiate atomic cluster 109 along the x-axis, y-axis, and z-axis, respectively, to induce resonant transitions and emit fluorescence signals from the atoms. The three sets of detector lasers are located at the edges of the corresponding directions of the three sets of Raman lasers.

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

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

[0044] The quarter-wave plate 104, zero-degree reflector 110, accelerometer 105, and passive vibration isolation platform 106 are coaxially mounted in a top-to-bottom order. The quarter-wave plate 104 is used to adjust the polarization of the incident third Raman laser after reflection by the zero-degree reflector 110 to 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 group 109 is cooled, selected, and interfered with, the atom is irradiated by the first detection laser 401, and the optical signal is converted into an electrical signal by the fluorescence collection device 108 and sent to the laptop computer 107 for data processing.

[0046] In this embodiment, a compact atomic interferometric inertial measurement device based on magnetic field projectile technology, taking the x-axis as an example, when the third gradient coil pair 503 in the x-direction is used for atomic trapping, the first multi-functional coil pair 501 and the second multi-functional coil pair 502 act as translation coils and projectile coils in the y and z directions, respectively. The current directions in the gradient coil pair and the projectile 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 projectile coil pair in the y and z directions are the same pair of coils, but the current direction and magnitude at different times are configured according to requirements in the timing control of atomic interferometry. The magnetic field configuration in the y and z directions 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, with currents in opposite directions and equal in magnitude, thus generating a gradient magnetic field at the center of the coil. The three sets of cooling laser pairs 201, 202, and 203, together with the multifunctional coil pair 503, form a three-dimensional magneto-optical trap, forming atomic cluster 109 in a few hundred milliseconds. At the end of the atomic cooling, the horizontal multifunctional coil pair 501 is configured as a translation coil, translating atomic cluster 109 from the center point a to the left, with the translation distance proportional to the current magnitude.

[0048] A compact atomic interferometric inertial measurement method based on magnetic field projectile technology is presented, with the projectile method for atomic clusters as follows. Taking the x-axis as an example, firstly, 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 reversed, configured as projectile coils, generating a gradient magnetic field in the middle of the coils. Due to the Stern-Gerlach effect, the atoms will experience the force generated by the gradient magnetic field, thereby obtaining the velocity in that direction. By changing the magnitude of the current in the projectile coils, the atomic cluster obtains a projectile velocity +v. x Then, in the next measurement cycle, the above operation is repeated. By changing the direction of the current in the projectile ring, the atomic cluster obtains the projectile velocity -v. x The atomic projectile methods in the y and z directions are the same as those in the x direction. Then, the gradient coil pair 503 is turned off, and the power of the three cooling laser pairs 201, 202, and 203 is reduced to polarize and cool the atomic cluster 109 to a temperature of 1-2 μK. Then, the cooling laser pairs 202, 202, and 203 are turned off, and the atomic cluster 109 will fall from point -b under the influence of gravity. Simultaneously, the multifunctional coil 501 is configured as a projectile coil, and the atomic cluster 109 will receive a horizontal force to the right, the magnitude of which is proportional to the magnetic field gradient formed by the projectile coil, as shown in the following equation.

[0049]

[0050] In the formula, The magnetic force applied to the parabolic ray ring, μ B For Bohr magneton, m F These are the magnetic quantum energy levels of atoms. The magnetic field gradient is formed by the parabolic arc. Then, atomic cluster 109 will begin parabolic motion under the influence of horizontal velocity and gravity. When atomic cluster 109 reaches point -c, the numerical direction Raman laser pair 303 is configured with a π / 2 pulse, and the atom will be in a quantum superposition state, with its trajectory split into two independent paths. When atomic cluster 109 moves to the center of Raman laser pair 303, a π pulse is applied, at which point the two trajectories of the atom deflect in opposite directions. When atomic cluster 109 moves to the right edge of Raman laser pair 303, an optimal π / 2 pulse is applied, forming a closed interference path -cd1ed2. Then, when atomic cluster 109 reaches point f, the vertical direction probe laser pair 403 is illuminated, thereby obtaining the atomic interference phase shift ΔΦ.

[0051]

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

[0053] Typically, to improve the sensitivity of interferometry, the operating point of atomic interferometry is fixed at the center of the interference fringes. Thus, by measuring the phase shift between two adjacent fringe centers, the chirp frequency α of the Raman laser can be calculated. Simultaneously, to eliminate non-inertial system errors, the operating point needs to be alternately changed... and The symbol. Thus, through, as... Figure 3 The acceleration can be calculated using the measurement sequence shown, which involves four measurements. 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 is ±k and the atomic velocity is ±v. This represents the change in acceleration when the atomic velocity reverses.

[0056] A compact atomic interferometric inertial measurement method based on magnetic field projectile technology includes the following steps:

[0057] Step 1, as follows Figure 1 As shown, three sets of cooling laser pairs 201, 202 and 203 and three sets of multifunctional coil pairs 501, 502 and 503 constitute a three-dimensional magneto-optical trap. Then, through a period of cooling and trapping atoms, an atomic cluster 109 is formed in the geometric center region of the three-dimensional magneto-optical trap.

[0058] Step 2: In the x-axis direction, control the current and direction of the first multi-functional coil pair 501. During the first interference cycle, move the atomic cluster 109 towards the -x direction from the geometric center of the third Raman laser pair 303. Then, configure the current and direction of the first multi-functional coil pair 501 as a projectile 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 multi-functional coil pair 501 again to configure it as a bias magnetic field, and irradiate the atomic cluster 109 with the third Raman laser pair 303 three times in the z-direction according to the sequence T / 2-TT / 2, forming an interference loop (-c)-d1-e-d2. Then, irradiate the third detector laser pair 403 in the z-axis direction, and collect the interference information through the fluorescence collection device 108 to obtain α. +k,-vThen, the laser chirp scanning frequency is reversed, and the above interference process is repeated to obtain α. -k,-v And record the output of the accelerometer.

[0059] Step 3, similar to Step 2, in the second interference cycle, the atomic cluster 109 is moved towards the +x direction from the geometric center of the third Raman laser pair 303. Then, the current and direction of the first multifunctional coil pair 501 are configured as a projectile loop, and the atomic cluster 109 acquires an initial velocity in the -x direction. At this time, the current and direction of the first multifunctional coil pair 501 are adjusted again to form a bias magnetic field, and the third Raman laser pair 303 is irradiated onto the atomic cluster 109 three times in the z-direction according to the sequence T / 2-TT / 2, forming an interference loop c-d1-(-e)-d2. Then, the third probe 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 to obtain α. -k,+v And record the output of the accelerometer.

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

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

[0062] A compact atomic inertial measurement method using magnetic field projectile technology is disclosed, with the following measurement principle: In a vacuum cavity 101, a single cold atom cluster 109 is used to measure triaxial acceleration and triaxial angular velocity. It should be noted that when measuring the angular velocity perpendicular to the interference plane, the acceleration in the Raman beam direction is simultaneously measured. Then, atomic interference is sequentially manipulated in the other two perpendicular directions, ultimately achieving the measurement of six inertial quantities through six atomic projectiles and atomic interferences.

[0063] A compact atomic interferometric inertial measurement method based on magnetic field projectile technology is proposed, with the following decoupling method for acceleration and angular velocity. Taking the x-direction as an example, the working points of the atomic interferometer are configured at the left and right centers of the central interference fringe using the fringe locking method. Then, the frequency chirp rate α± of the Raman laser is calculated. Simultaneously, to eliminate non-inertial systematic errors, the directions of the effective wave vector keff of the Raman laser and the atomic projectile velocity v are changed during the measurement process. Thus, through eight measurements, a set of acceleration and angular velocity measurements can be obtained. Similarly, repeating the above process 16 times yields acceleration and angular velocity measurements in the other two directions.

[0064] A compact atomic interferometric inertial measurement method based on magnetic field ejection technology is disclosed, with the following translation method for atomic cluster 109. Taking the x-axis as an example, firstly, after the magneto-optical trap captures atomic cluster 109, a pair of translation coils 501 are arranged in the atomic ejection direction. Currents in the same direction are applied to the coils, generating a uniform magnetic field of Gaussian magnitude in the center of the coils. Due to the introduction of this magnetic field, the center of the magnetic field trap is translated to a position in the -y direction, with the displacement proportional to the magnetic field current. Then, in the next interference cycle, the atomic cluster capture process is repeated, changing the current direction in the translation coils to translate the center of the magneto-optical trap to a position in the +y direction. The translation methods for the atomic cluster along the y and z axes are the same as those along the x-axis.

[0065] A compact atomic interferometric inertial measurement method based on magnetic field projectile technology is presented, with the projectile method for atomic clusters as follows. Taking the x-axis as an example, firstly, 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 reversed, configured as projectile coils, generating a gradient magnetic field in the middle of the coils. Due to the Stern-Gerlach effect, the atoms will experience the force generated by the gradient magnetic field, thereby obtaining the velocity in that direction. By changing the magnitude of the current in the projectile coils, the atomic cluster obtains a projectile velocity +v. x Then, in the next measurement cycle, the above operation is repeated. By changing the direction of the current in the projectile ring, the atomic cluster obtains the projectile velocity -v. x The atomic ejection methods in the y and z directions are the same as those in the x direction.

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

Claims

1. A compact atomic interferometric inertial measurement device based on magnetic field projectile 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, atomic clusters, 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 multi-functional coil pair, a second multi-functional coil pair, and a third multi-functional coil pair; The vacuum chamber is located inside the magnetic shield and is only connected to the ion pump to maintain the vacuum level of the system; the ion pump is located outside the magnetic shield to prevent residual magnetism from affecting the interferometric measurement. The three sets of cooling laser pairs are coaxial with the three sets of multifunctional coil pairs and are aligned with the x-axis, y-axis and z-axis directions, forming a magneto-optical trap to cool and capture background atoms and generate atomic clusters; the atomic clusters are located at the geometric center of the aforementioned cooling laser pairs and multifunctional coil pairs; The three sets of Raman laser pairs are coaxial with the x-axis, y-axis, and z-axis, respectively, and are geometrically coaxial with the three sets of cooling laser pairs and the three sets of multifunctional coil pairs. They are used to interact with the atomic clusters from the x, y, and z directions to produce atomic interference in the corresponding directions. The atomic clusters are located at the geometric center of the three sets of Raman laser pairs. The three sets of detector laser pairs irradiate the atomic clusters along the x-axis, y-axis, and z-axis, respectively, to induce resonant transitions and fluorescence signals in the atoms; the three sets of detector laser pairs are located at the edges of the corresponding directions of the three sets of Raman laser pairs. The three sets of multifunctional coil pairs act as gradient coils, translation coils, and bias coils respectively during atomic interference. In the gradient coils, the currents in the two coils are in opposite directions but have the same magnitude; in the translation coils and bias coils, the currents in the two coils are in the same direction and have the same magnitude. The fluorescence collection device is located in a plane perpendicular to the plane formed by the first detection laser pair and the third Raman laser pair, i.e., coaxial with the y-axis. It is used to collect the fluorescence signal emitted by the atomic group irradiated by the detection laser pair. The collected signal is transmitted to a laptop computer through an radio frequency connection cable.

2. The compact atomic interferometric inertial measurement device based on magnetic field projectile technology according to claim 1, characterized in that: The quarter-wave plate, zero-degree mirror, accelerometer, and 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 it is reflected by the zero-degree mirror to orthogonal polarization; Place the zero-degree reflector on the accelerometer, and then place the accelerometer on the passive vibration isolation platform.

3. The compact atomic interferometric inertial measurement device based on magnetic field projectile technology according to claim 1, characterized in that: After the atomic group is cooled, selected, and interfered with, the atoms are irradiated with a first detection laser, and the optical signal is converted into an electrical signal by a fluorescence collection device and sent to a laptop computer for data processing.

4. A measurement method for a compact atomic interferometric inertial measurement device based on magnetic field projectile technology, characterized in that: Includes the following steps: Step 1: Three sets of cooling laser pairs and three sets of multifunctional coil pairs constitute a three-dimensional magneto-optical trap. Then, through a period of cooling and trapping atoms, an atomic cluster is formed in the geometric center region of the three-dimensional magneto-optical trap. Step 2: In the x-axis direction, control the current and direction of the first multi-functional coil pair. During the first interference period, move the atomic cluster from the geometric center of the third Raman laser pair towards the -x direction. Then, configure the current and direction of the first multi-functional coil pair as a parabolic loop, and the atomic cluster obtains an initial velocity in the +x direction. At this time, adjust the current and direction of the first multi-functional coil pair again to configure it as a bias magnetic field, and irradiate the atomic cluster three times from the z-direction according to the sequence T / 2-TT / 2, forming an interference loop (-c)-d1-e-d2. Then, irradiate the third detector laser pair in the z-axis direction, and collect the interference information 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 to obtain α. -k,-v And record the output of the accelerometer. Step 3: In the second interference cycle, the atomic cluster is moved from the geometric center of the third Raman laser pair in the +x direction; then the current and direction of the first multifunctional coil pair are configured as a parabolic coil, and the atomic cluster obtains an initial velocity in the -x direction; At this point, the current and direction of the first multifunctional coil pair are adjusted again to form a bias magnetic field, and the third Raman laser pair is irradiated onto the atomic group three times in the z-direction according to the sequence T / 2-TT / 2, forming an interference loop c-d1-(-e)-d2; then, the third detector laser pair is irradiated in the z-axis direction, and the interference information is collected by a fluorescence collection device to obtain α. +k,+v Then, the laser chirp scanning frequency is reversed, and the above interference process is repeated to obtain α. -k,+v And record the output of the accelerometer. Step 4: Combine the information obtained in Step 2 and Step 3 to calculate the y-axis angular velocity Ω of the atomic inertia information. y and z-axis acceleration a z ; Step 5: Repeat steps 2-4, and configure the Raman laser pair and the multi-functional coil pair to calculate the z-axis angular velocity Ω sequentially. z and x-axis acceleration a x and the x-axis angular velocity Ω x and y-axis acceleration a y .

5. The measurement method of a compact atomic interferometric inertial measurement device based on magnetic field projectile technology according to claim 4, characterized in that: The solution formula for 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 is ±k and the atomic velocity is ±v. This represents the change in acceleration when the atomic velocity reverses.

Images