Output value correction method of cold atom interference measurement equipment under motion condition

Abstract

The invention relates to a method for correcting an output value of cold atom interference measurement equipment under a motion condition. The method comprises the following steps: acquiring attitude information of an inertial navigation system and acceleration information measured by a triaxial accelerometer; calculating # imgabs0 and # imgabs1 # on the basis of the attitude information and the acceleration information to represent a unit vector of a rotating shaft z axis of the cold atom interference measurement equipment in an initial state, omega represents a real-time rotating speed of the cold atom interference measurement equipment, delta v represents a speed difference between an atom and an accelerometer, and delta r'represents a position vector from the atom to the accelerometer; compensating the output value of the cold atom interference measurement equipment by using the values of a1 and a2; the environmental adaptability of the cold atom interference measurement equipment can be remarkably improved under the condition of no stable platform and no vibration isolation device, so that the cold atom interference measurement equipment outputs a correct measurement value in a complex rotation and vibration coexistence measurement environment.

Description

Technical Field

[0001] The invention relates to the field of cold atom interference precision measurement, and in particular to an output value correction method of a cold atom interference measurement device under motion conditions. Background Art

[0002] Gravimeters, gravity gradiometers and gyroscopes based on cold atom interferometry technology have high measurement accuracy in static and quasi-static environments, but in scenarios with rotation and large vibrations, such measurement equipment will experience significant performance degradation. For example, the cold atom interferometry absolute gravimeter can achieve micro-gala-level measurement accuracy in an environment with no rotation and low vibration, but its accuracy is only milligala-level in dynamic environments such as onboard ships, a performance degradation of 2-3 orders of magnitude.

[0003] Therefore, this type of equipment is currently equipped with additional equipment such as a stable platform or a vibration isolation platform to reduce environmental interference and improve equipment performance, but this will also increase the size and weight of the equipment. Summary of the invention

[0004] The present invention aims at the technical problems existing in the prior art and provides a method for correcting the output value of a cold atom interferometer measurement device under motion conditions, thereby solving the problem that in practical applications of cold atom interferometer gravimeters, gravity gradiometers and cold atom interferometer gyroscopes, when the carrier has complex motion combining translation and rotation, it is difficult to use the output value of the accelerometer to compensate for the effects caused by additional vibration and rotation, which ultimately leads to a decrease in the performance of the above-mentioned instruments.

[0005] According to a first aspect of the present invention, there is provided a method for correcting an output value of a cold atom interferometry device under motion conditions, comprising:

[0006] Step 1, obtaining attitude information of the inertial navigation system and acceleration information measured by a three-axis accelerometer;

[0007] Step 2: Calculate based on the posture information and acceleration information in, represents the unit vector of the z-axis of the cold atom interferometry device in the initial state, ω represents the real-time rotation speed of the cold atom interferometry device, δv represents the speed difference between the atom and the accelerometer, and δr′ represents the position vector from the atom to the accelerometer;

[0008] Step 3, using the values ​​of a1 and a2 to compensate and correct the output value of the cold atom interferometry device.

[0009] Based on the above technical solution, the present invention can also make the following improvements.

[0010] Optionally, the calculation formula for the velocity difference δv between the atom and the accelerometer in the inertial space is:

[0011] δv=gt+v0-v t ;

[0012] Among them, g represents the gravity information output by the gravimeter, t represents the free fall time, v0 represents the initial velocity of the atom when it is released, and v t is the velocity of the carrier, where v0 and v t Calculated using the information output by the inertial navigation system.

[0013] Optionally, the calculation formula of the position vector δr′ from the atom to the accelerometer is:

[0014]

[0015] Among them, δr′0 is obtained by pre-calibration, g represents the gravity information output by the gravimeter, and t represents the free fall time.

[0016] Optionally, the correction method further includes:

[0017] Get the three-axis acceleration information a acc And the gravimeter outputs gravity information g;

[0018] Combine the three-axis acceleration information with the inertial navigation system attitude information to calculate the component of the three-axis accelerometer on the z-axis from Deducting gravity g from

[0019] by The value of is used to compensate for the output value of the cold atom interferometry device.

[0020] Optionally, step 3 includes:

[0021] Will Substituting a1 and a2 into the sensitivity function, the single-cycle compensation phase of the cold atom interferometry device is obtained.

[0022] Optionally, the correction method further includes: placing the accelerometer in a stable system, and using single-axis acceleration to replace acceleration information measured by the three-axis accelerometer.

[0023] According to a second aspect of the present invention, there is provided an output value correction system for a cold atom interferometric measurement device under motion conditions, comprising: an inertial navigation system, a three-axis accelerometer and a compensation calculation module;

[0024] The inertial navigation system is used to obtain attitude information;

[0025] The three-axis accelerometer is used to measure acceleration information;

[0026] The compensation calculation module is used to calculate based on the posture information and acceleration information in, represents the unit vector of the z-axis in the initial state, ω represents the real-time rotation speed of the cold atom interferometer measurement device, δv represents the speed difference between the atom and the accelerometer, and δr′ represents the position vector from the atom to the accelerometer; the output value of the cold atom interferometer measurement device is compensated and corrected with the values ​​of a1 and a2.

[0027] According to a third aspect of the present invention, there is provided an electronic device comprising a memory and a processor, wherein the processor is used to implement the steps of a method for correcting an output value of a cold atom interferometry device under motion conditions when executing a computer management program stored in the memory.

[0028] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium on which a computer management program is stored. When the computer management program is executed by a processor, the steps of a method for correcting an output value of a cold atom interferometry device under motion conditions are implemented.

[0029] The present invention provides a method, system, electronic device and storage medium for correcting the output value of a cold atom interferometry device under motion conditions, which can significantly improve the environmental adaptability of the cold atom interferometry device in the absence of a stable platform or a vibration isolation device, and enable the cold atom interferometry device to output correct measurement values ​​in a measurement environment where complex rotation and vibration coexist. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A flow chart of a method for correcting the output value of a cold atom interferometry device under motion conditions provided by the present invention:

[0031] Figure 2 A schematic diagram of a coordinate system established according to an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0033] Figure 4 A schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION

[0034] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0035] Figure 1 A flowchart of a method for correcting the output value of a cold atom interferometry device under motion conditions provided by the present invention, such as Figure 1As shown, the correction method includes:

[0036] Step 1: Obtain the attitude information of the inertial navigation system and the acceleration information measured by the three-axis accelerometer.

[0037] Step 2: Calculate based on attitude information and acceleration information in, represents the unit vector of the z-axis of the cold atom interferometry device in the initial state (i.e., the z-axis unit vector in the inertial coordinate system), ω represents the real-time rotation speed of the cold atom interferometry device, δv represents the speed difference between the atom and the accelerometer, and δr′ represents the position vector from the atom to the accelerometer.

[0038] Step 3, using the values ​​of a1 and a2 to compensate and correct the output value of the cold atom interferometry device.

[0039] The present invention provides a method for correcting the output value of a cold atom interferometry device under motion conditions, which can significantly improve the environmental adaptability of the cold atom interferometry device in the absence of a stable platform or a vibration isolation device, and enable the cold atom interferometry device to output correct measurement values ​​in a measurement environment where complex rotation and vibration coexist.

[0040] Example 1

[0041] Embodiment 1 provided by the present invention is an embodiment of a method for correcting the output value of a cold atom interferometry device under motion conditions provided by the present invention, combined with Figure 1 It can be seen that the embodiment of the correction method includes:

[0042] Step 1: Obtain the attitude information of the inertial navigation system and the acceleration information measured by the three-axis accelerometer.

[0043] Step 2: Calculate based on attitude information and acceleration information in, represents the unit vector of the z-axis of the cold atom interferometry device in the initial state, ω represents the real-time rotation speed of the cold atom interferometry device, δv represents the speed difference between the atom and the accelerometer, and δr′ represents the position vector from the atom to the accelerometer.

[0044] Step 3, using the values ​​of a1 and a2 to compensate and correct the output value of the cold atom interferometry device.

[0045] In a possible embodiment, the calculation formula of the velocity difference δv between the atom and the accelerometer in the inertial space is:

[0046] δv=gt+v0-v t .

[0047] Among them, g represents the gravity information output by the gravimeter, t represents the free fall time, v0 represents the initial velocity of the atom when it is released, and v t is the velocity of the carrier, where v0 and v t Calculated using the information output by the inertial navigation system.

[0048] The calculation formula of the position vector δr′ from the atom to the accelerometer is:

[0049]

[0050] Among them, δr′0 is obtained by pre-calibration, g represents the gravity information output by the gravimeter, and t represents the free fall time.

[0051] The present invention uses a rotation measurement device and an acceleration measurement device fixedly connected to the device to measure the environment in which the cold atom interferometer measurement device is located, obtains the rotation and acceleration information felt by the device, and obtains the physical quantity that actually affects the cold atom interference process through mechanical analysis, and finally obtains the response of the system to the environment. The response is deducted from the output value of the cold atom interferometer measurement device to obtain the corrected output value of the cold atom interferometer measurement device. Specifically, the principle reasoning process of compensating and correcting the output value of the cold atom interferometer measurement device according to the values ​​of a1 and a2 includes:

[0052] 1. Establish a coordinate system. Figure 2 Shown is a schematic diagram of a coordinate system established according to an embodiment of the present invention.

[0053] Inertial system: K.

[0054] Translational coordinate system: Take the rotation axis at any time as the Z axis, draw a perpendicular line from the atomic position at that time to the Z axis as the X axis, and the intersection as the coordinate origin O to establish the translational coordinate system K′.

[0055] Non-inertial system (rotating coordinate system): Take the origin O of the K′ coordinate system as the origin and establish a rotating coordinate system by rotating ω K r.

[0056] 2. In the inertial reference frame, the position vector r of the accelerometer ac is the position vector r of the origin of the translational coordinate system relative to the inertial system oo′ The sum of the position vector r′ in the translational coordinate system:

[0057] r ac =r′+r oo′ (1)

[0058] Right now

[0059] r ac =r oo′ +x′i+y′j+z′k (2)

[0060] x′i, yj and z′k represent the position vectors of the origin of the translational coordinate system relative to the inertial system on the x, y and z axes respectively.

[0061] Taking the derivative of the above formula (2), we have

[0062] v ac =v oo′ +v′+ω×r′ (3)

[0063] In the above formula, v ac is the velocity of the accelerometer, V oo′ is the relative translational velocity between the inertial reference system and the translational coordinate system, v′ is the velocity of the object in the rotating coordinate system K r The velocity of the object in the rotating coordinate system K r The position vector in , ω represents the real-time rotation speed of the cold atom interferometry device.

[0064] By derivation of equation (3), the motion equation describing the object in non-inertial space in inertial space is:

[0065] a=a oo′ +a′+2ω×v′+β×r′+ω×(ω×r′) (4)

[0066] Among them, a is the acceleration of the object in the inertial space, a oo′ K is a non-inertial system r The translational acceleration of the origin; a′ is the object in the non-inertial system K r The acceleration in the non-inertial system K is 2ω×v′, ω is the rotation speed, and v′ is the acceleration of the object in the non-inertial system K. r The velocity in the non-inertial system K is β×r′, where β is the angular acceleration and r′ is the velocity of the object in the non-inertial system K. r The position vector in .

[0067] Specifically for the accelerometer, since the accelerometer is fixed to the carrier, equation (4) can be rewritten as

[0068] a ac =g+a oo′ +2ω×v′ ac +ω×(ω×r′ ac ) (5)

[0069] Among them, a ac is the acceleration of the accelerometer in inertial space, v′ ac K is the accelerometer in the non-inertial frame r The speed in the ac K is the accelerometer in the non-inertial frame rHere we assume that the angular acceleration β = 0, the accelerometer has no additional velocity v′ = 0 relative to the non-inertial system (this term is retained to have a similar form to the atomic equation of motion) and the accelerometer load additionally senses the acceleration a′ = g.

[0070] 3. Calculation in the non-inertial reference frame K r Displacement of atoms in

[0071] Rewrite equation (4) as

[0072] a′=aa oo′ -β×r′-2ω×v′-ω×(ω×r′) (6)

[0073] That is, the acceleration of the object seen in the non-inertial system, the equation of motion of the atom is

[0074] a atom =ga oo′ -β×r′ atom -2ω×v′ atom -ω×(ω×r′ atom ) (7)

[0075] Among them, a atom is the acceleration of the atom in inertial space, v′ atom For atoms in the non-inertial frame K r The speed in the atom For atoms in the non-inertial frame K r The position vector in the equation (7) is the position vector. The output bandwidth of the inertial navigation is generally in the kHz range, so it is roughly assumed that the angular velocity ω remains constant (β = 0) within a period of 1 ms, that is, the third term β × r′ in equation (7) atom is zero.

[0076] Since any rotation must have a force acting on the carrier, the carrier (K′ coordinate system) will produce a rotation (Kr coordinate system). Therefore, for the rotation at any moment, once the axis of rotation is determined, the relative position vector r′ between the origin of the coordinate system and the atom is determined and remains unchanged within the interference period. Therefore, the fourth term on the right side of the above equation (7), the Coriolis force, is zero.

[0077] In summary, the above formula (7) can be simplified to

[0078] a atom =ga oo′ -2ω×v′-ω×(ω×r′ atom ) (8)

[0079] 4. Comparison of accelerometer measurements and atomic displacements

[0080] First, assume that (a) g can be subtracted from the inertial navigation data by high-pass filtering; (b) the unit vector and The relationships between them are known.

[0081] Based on the above derivation, it can be obtained that the measurement value of the three-axis accelerometer is

[0082] a ac =g+a oo′ +2ω×v′ ac +ω×(ω×r′ ac ) (9)

[0083] The acceleration of the atom in non-inertial space is

[0084] a atom =ga oo′ -2ω×v′ atom -ω×(ω×r′ atom ) (10)

[0085] Obviously, the output of the uniaxial accelerometer can be obtained The output of the three-axis accelerometer is ac and the actual response acceleration a of the cold atom interferometry device resp for

[0086]

[0087] a ac =g+a oo′ +2ω×v′ ac +ω×(ω×r′ ac ) (11.b)

[0088]

[0089] in is the sensitive axis of the accelerometer. Comparing (11.a) and (11.c), it can be seen that when the accelerometer has no additional stabilization, even if we know and The angle of Get the complete a resp Therefore, in a system without accelerometer stabilization, a three-axis table is required, but in a system with accelerometer stabilization, a single-axis table can be used. The following first considers the case without additional stabilization.

[0090] At this time, the acceleration information measured by the inertial navigation information and the three-axis accelerometer can be obtained:

[0091]

[0092] Compare (11.c) with (12), and assume that after deducting the gravity term, we have

[0093]

[0094] According to formula (3), we have

[0095] v′ atom =v atom -v oo′ -ω×r′ atom (14)

[0096] Substituting into (13.a) we get

[0097]

[0098] Similar v′ ac =v ac -v oo′ -ω×r′ ac , (13.b) can be rewritten as

[0099]

[0100] Subtracting the negative value of (15) from (13.b) yields the difference a between the actual acceleration response of the cold atom interferometry device and the acceleration measured based on the inertial navigation information and the three-axis accelerometer. diff for:

[0101]

[0102] where δv = v atom -v ac represents the velocity difference between the atom and the accelerometer in inertial space, δr′=r′ atom -r′ ac is the position vector from the atom to the accelerometer. Then we can get a diff Includes the following two items:

[0103] Item 1 Defined as a1, which is 2(ω×δv) The projection in the direction, ω can be obtained through inertial navigation. δv=v atom -v ac , where v ac That is, the motion of the carrier output by the inertial navigation in the inertial space. This is the initial velocity of the atom in inertial space when it is released. (which can also be obtained from inertial navigation data) plus the velocity after free fall time t. Note that at the moment of atom release, the carrier velocity is the same as the initial velocity of the atom. In fact, the term δv represents the change in atomic velocity caused by gravity after the atom is released plus the change in carrier velocity.

[0104] Item 2 Defined as a2, the difference between the centripetal acceleration of the atom and the accelerometer. Note here that in, is the initial position of the atom in the inertial space when it is released, r acc is the position vector of the accelerometer in inertial space, It does not change with the carrier state and can be obtained through initial calibration. It can be approximately considered that δr′ is a constant vector.

[0105] Based on the above principle, the output value of the cold atom interferometry device under motion conditions is compensated: the projection of g in the addition table is deducted; if the addition table has no stable platform, a three-axis addition table is required, and the inertial space is obtained through the inertial navigation data The acceleration in the direction; if the table has a stable platform, a single-axis table can be used, but it is best to ensure that δr′ does not change with the movement of the carrier; the rotation of the carrier, the speed of the carrier when the atom is released, and the speed of the carrier during the interference time are obtained by inertial navigation, and the calculation is The δr′ in the term can be calibrated in advance and does not change with the carrier state, so it can be calculated only by obtaining the ω information through inertial navigation.

[0106] In a possible embodiment, the correction method further includes:

[0107] Get the three-axis acceleration information a acc And the gravimeter outputs gravity information g.

[0108] Combine the three-axis acceleration information with the inertial navigation system attitude information to calculate the component of the three-axis accelerometer on the z-axis from Deducting gravity g from

[0109] by The value of is used to compensate for the output value of the cold atom interferometry device.

[0110] In a possible embodiment, step 3 includes:

[0111] Will Substituting into the sensitivity function, the single-cycle compensation phase of the cold atom interferometry device is obtained.

[0112] In a possible embodiment, the correction method further includes: placing the accelerometer in a stable system, and using single-axis acceleration to replace acceleration information measured by the three-axis accelerometer.

[0113] Example 2

[0114] Embodiment 2 provided by the present invention is an embodiment of an output value correction system of a cold atom interferometry measurement device under motion conditions provided by the present invention. The embodiment of the correction system includes: an inertial navigation system, a three-axis accelerometer and a compensation calculation module.

[0115] The inertial navigation system is used to obtain attitude information.

[0116] A three-axis accelerometer is used to measure acceleration information.

[0117] The compensation calculation module is used to calculate based on attitude information and acceleration information in, represents the unit vector of the z-axis in the initial state, ω represents the real-time rotation speed of the cold atom interferometer measurement device, δv represents the speed difference between the atom and the accelerometer, and δr′ represents the position vector from the atom to the accelerometer; the output value of the cold atom interferometer measurement device is compensated and corrected with the values ​​of a1 and a2.

[0118] It can be understood that the output value correction system of a cold atom interferometry device under motion conditions provided by the present invention corresponds to the output value correction method of a cold atom interferometry device under motion conditions provided by the aforementioned embodiments. The relevant technical features of the output value correction system of a cold atom interferometry device under motion conditions can refer to the relevant technical features of the output value correction method of a cold atom interferometry device under motion conditions, which will not be repeated here.

[0119] See also Figure 3 , Figure 3 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 3 As shown, an embodiment of the present invention provides an electronic device, including a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and executable on the processor 1320. When the processor 1320 executes the computer program 1311, the following steps are implemented: obtaining attitude information of an inertial navigation system and acceleration information measured by a three-axis accelerometer; calculating based on the attitude information and acceleration information in, represents the unit vector of the z-axis of the cold atom interferometry device in the initial state, ω represents the real-time rotation speed of the cold atom interferometry device, δv represents the speed difference between the atom and the accelerometer, and δr' represents the position vector from the atom to the accelerometer; the output value of the cold atom interferometry device is compensated and corrected with the values ​​of a1 and a2.

[0120] See also Figure 4 , Figure 4 Schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. Figure 4As shown, this embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored. When the computer program 1411 is executed by a processor, the following steps are implemented: obtaining attitude information of an inertial navigation system and acceleration information measured by a three-axis accelerometer; calculating based on the attitude information and acceleration information in, represents the unit vector of the z-axis of the rotation axis of the cold atom interferometry device in the initial state, ω represents the real-time rotation speed of the cold atom interferometry device, δv represents the speed difference between the atom and the accelerometer, δr′ represents the position vector from the atom to the accelerometer; the output value of the cold atom interferometry device is compensated and corrected with the values ​​of a1 and a2.

[0121] An embodiment of the present invention provides a method, system, electronic device and storage medium for correcting the output value of a cold atom interferometry device under motion conditions, which can significantly improve the environmental adaptability of the cold atom interferometry device in the absence of a stable platform or a vibration isolation device, and enable the cold atom interferometry device to output correct measurement values ​​in a measurement environment where complex rotation and vibration coexist.

[0122] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0123] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0125] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0127] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0128] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for correcting the output value of a cold atom interferometric measurement device under motion conditions, characterized in that: The correction method comprises: Step 1, obtaining attitude information of the inertial navigation system and acceleration information measured by a three-axis accelerometer; Step 2: Calculate based on the posture information and acceleration information [ω×(ω×δr')]; where represents the unit vector of the rotation axis z-axis of the cold atom interferometry device in the initial state, ω represents the real-time rotation speed of the cold atom interferometry device, δv represents the speed difference between the atom and the accelerometer, and δr' represents the position vector from the atom to the accelerometer; Step 3, using the values ​​of a1 and a2 to compensate and correct the output value of the cold atom interferometry device.

2. The correction method according to claim 1, characterized in that: The calculation formula of the velocity difference δv between the atom and the accelerometer in the inertial space is: δv=gt+v0-v t ; Among them, g represents the gravity information output by the gravimeter, t represents the free fall time, v0 represents the initial velocity of the atom when it is released, and v t is the velocity of the carrier, where v0 and v t Calculated using the information output by the inertial navigation system.

3. The correction method according to claim 1, characterized in that: The calculation formula of the position vector δr' from the atom to the accelerometer is: Among them, δr'0 is obtained by pre-calibration, g represents the gravity information output by the gravimeter, and t represents the free fall time.

4. The correction method according to claim 1, characterized in that: The correction method also includes: Get the three-axis acceleration information a acc And the gravimeter outputs gravity information g; Combine the three-axis acceleration information with the inertial navigation system attitude information to calculate the component of the three-axis accelerometer on the z-axis from Subtract the gravity g from by The value of is used to compensate for the output value of the cold atom interferometry device.

5. The correction method according to claim 4, characterized in that: The step 3 comprises: Will Substituting the sensitivity function into the single-cycle compensation phase of the cold atom interferometry device is obtained.

6. The correction method according to claim 1, characterized in that: The correction method also includes: placing the accelerometer in a stable system and using single-axis acceleration to replace acceleration information measured by the three-axis accelerometer.

7. A system for correcting the output value of a cold atom interferometric measurement device under motion conditions, characterized in that: The correction system includes: an inertial navigation system, a three-axis accelerometer and a compensation calculation module; The inertial navigation system is used to obtain attitude information; The three-axis accelerometer is used to measure acceleration information; The compensation calculation module is used to calculate based on the posture information and acceleration information in, represents the unit vector of the z-axis in the initial state, ω represents the real-time rotation speed of the cold atom interferometer measurement device, δv represents the speed difference between the atom and the accelerometer, and δr' represents the position vector from the atom to the accelerometer; the output value of the cold atom interferometer measurement device is compensated and corrected with the values ​​of a1 and a2.

8. An electronic device, characterized in that: It includes a memory and a processor, and the processor is used to implement the steps of the output value correction method of the cold atom interferometric measurement device under motion conditions as described in any one of claims 1 to 6 when executing the computer management program stored in the memory.

9. A computer-readable storage medium, characterized in that: A computer management program is stored thereon, and when the computer management program is executed by the processor, the steps of the output value correction method of the cold atom interferometric measurement device under motion conditions as described in any one of claims 1 to 6 are implemented.

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