Acceleration and angular velocity decoupling measurement method of atomic interference inertial sensor

Abstract

The invention discloses an acceleration and angular velocity decoupling measurement method of an atomic interference inertial sensor. The atomic interference inertial sensor comprises an atomic source, a vacuum chamber, a laser module, a detection module and a control module. According to the measurement method, atomic beams which are bidirectionally emitted and three paths of Raman laser act, so that the atomic beams are subjected to coherent beam splitting, reflection and beam combination to generate Mach-Zehnder interference. And scanning the frequencies of the three paths of Raman laser to observe an atomic interference signal with an outer envelope. Through an envelope peak searching algorithm, a frequency value corresponding to an envelope center point can be calculated, and acceleration and angular velocity information sensitive to the atom interference inertial sensor can be decoupled at the same time according to different positions of envelope center points of double-loop atom interference signals. According to the testing method, real-time decoupling measurement of the acceleration and the angular velocity can be achieved, the measurement range is not limited by the phase limitation of (0, pi), and wide-range measurement can be achieved.

Description

Technical Field

[0001] The invention relates to an acceleration angular velocity decoupling measurement method of an atomic interference inertial sensor, and belongs to the field of inertial measurement. Background Art

[0002] The inertial measurement sensor based on the principle of atomic interference is a device that measures acceleration and angular velocity based on the Sagnac effect. It has demonstrated its potential for ultra-high sensitivity measurement and has broad application prospects in the fields of high-precision inertial navigation, basic physics, geophysics, and quantum metrology benchmark establishment. Taking the Mach-Zehnder type optical pulse atomic interference inertial sensor as an example, it uses the wave nature of atoms as matter waves to make atomic wave packets coherently split, reflect, and combine under the action of Raman lasers. After the atomic wave packets are combined, they interfere to form fringes, and the acceleration and angular velocity information of the carrier can be calculated based on the size of their interference phase shift. In the commonly used scheme, the acceleration / angular velocity value is usually calculated by detecting the change in the atomic interference phase. However, in this case, if the acceleration or angular velocity changes beyond the measurement range of (0,π), it will be difficult to determine which half-cycle it is in, and there is a problem of cross-cycle ambiguity, which limits its application in dynamic environments. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide an acceleration and angular velocity decoupling measurement method for an atomic interferometer inertial sensor, which adopts a frequency modulation method, extracts the position of the envelope center point by scanning the modulation frequency, and decouples the acceleration and angular velocity information at the same time, thereby realizing a large-scale decoupling measurement of acceleration and angular velocity.

[0004] The technical solution of the present invention is: in the first aspect, an atomic interferometric inertial sensor is provided, comprising: an atomic source, a vacuum chamber, a laser module, a detection module, and a control system module; wherein:

[0005] The vacuum chamber provides a vacuum environment for the regulation of atoms;

[0006] The atomic source is located in a vacuum chamber and is capable of producing atomic vapor;

[0007] The laser module emits various types of lasers to control atoms;

[0008] The detection module detects the number of atoms at a certain energy level in the vacuum chamber, receives the fluorescence signal emitted by the atoms or detects the detection light signal after being absorbed by the atoms, and outputs an electrical signal to the control module;

[0009] The control module receives the electrical signal output by the detection module and can adjust the laser power, frequency and phase of the laser system.

[0010] Preferably, the cooling laser, the state preparation laser, the Raman laser and the detection laser, wherein:

[0011] Cooling lasers are used to slow down atoms;

[0012] The ground state preparation laser is used to prepare atoms to a specific ground state energy level;

[0013] Raman laser is used for coherent manipulation of atoms, causing them to undergo two-photon stimulated Raman transitions. The laser module emits three Raman lasers, which respectively cause coherent beam splitting, reflection and beam combining of atoms. Each Raman laser has two basic frequency components ω1 and ω2, and the actual frequency component of each Raman laser and the frequency difference between different Raman lasers can be set according to usage.

[0014] Preferably, the detection module can detect the number of atoms at a certain energy level using an absorption method or a laser induced fluorescence method.

[0015] In a second aspect, a method for measuring acceleration and angular velocity decoupling of an atomic interferometer inertial sensor is provided, comprising:

[0016] S100: In the vacuum chamber, the atomic source is heated to generate atomic vapor, which passes through the collimator to form a hot atomic beam, or the atomic vapor interacts with the cooling laser in the laser module to form a cold atomic beam or atomic cloud. The atomic interferometric inertial sensor adopts a two-way opposing structure to generate two atomic beams or atomic clouds with the same path, which then interact with the state preparation laser in the laser module and are prepared to a specific ground state energy level to obtain the state-prepared atoms.

[0017] S110: setting the frequency components and initial phase differences of the first Raman laser, the second Raman laser, and the third Raman laser in the laser module; the atoms after state preparation interact with the Raman lasers in the laser module respectively, so that the atoms undergo coherent beam splitting, reflection, and beam combination, resulting in Mach-Zehnder interference, and two atomic interference signals are detected by the detection module;

[0018] S120: Scan the frequency difference Δω between the first Raman laser and the third Raman laser. The atoms after the interference of the two paths pass through the corresponding detection module to detect the number of atoms at a certain energy level. The two atomic interference fringe signals S1 and S2 with outer envelopes can be detected.

[0019] S130: The control module calculates the acceleration and angular velocity information that the dual-path atomic interferometer is sensitive to based on the atomic interference configuration and the two-path interference signals S1 and S2 with outer envelopes.

[0020] Preferably, the frequency components and initial phase differences of the first Raman laser, the second Raman laser, and the third Raman laser in the laser module are set as follows:

[0021] The frequency components of the first Raman laser are ω1 and (ω2+Δω / 2), and the initial phase difference between the two frequency components is

[0022] The frequency components of the second Raman laser are ω1 and ω2, and the initial phase difference between the two frequency components is

[0023] The frequency components of the third Raman laser are ω1 and (ω2-Δω / 2), and the initial phase difference between the two frequency components is

[0024] Here, ω1 represents and ω2 represent two fundamental frequency components of Raman laser respectively.

[0025] Preferably, the atomic interferometric inertial sensor adopts a bidirectional opposing structure to form a dual-loop configuration, in which case the directions of the Raman laser wave vectors acting on the two atoms are the same or opposite.

[0026] Preferably, when the Raman laser wave vector directions of the two atomic actions are the same, the two interference loops are on the same side of the initial atomic motion axis, and the two atomic interference signals S1 and S2 with outer envelopes detected are respectively:

[0027] S1=A1+B1cos(k eff aT 2 -2k eff ΩvT 2 +ΔωT+Δφ0)

[0028] S1=A1+B1cos(k eff aT 2 +2k eff ΩvT 1 -ΔωT+Δφ0)

[0029] Among them, A1, A1 are signal biases, B1, B1 are signal amplitudes, and A1, A1, B1, B1 are related to acceleration a, angular velocity Ω and atomic velocity v; k eff is the effective wave vector of the Raman laser, T is the free transmission time of the atom between two adjacent Raman lasers; Δφ0 is other non-inertial phase shift, which is different from the Raman laser phase shift It is related to factors such as AC Stark phase shift.

[0030] Preferably, when scanning Δω, the two atomic interference signals S1 and S2 will have interference fringes near different frequency values, and the frequency values ​​Δω1 and Δω2 of the envelope centers of the two atomic interference signals S1 and S2 respectively satisfy:

[0031] Δω1=k eff (-a+2Ωv)T

[0032] Δω2=k eff (a+2Ωv)T

[0033] The envelope peak search algorithm is used to solve the envelope center frequencies Δω1 and Δω2 of the two atomic interference signals S1 and S2, and the acceleration a and angular velocity Ω can be solved as follows:

[0034]

[0035] Preferably, when the Raman laser wave vectors of the two atomic actions are in opposite directions, when the atomic interference inertial sensor has acceleration a and angular velocity Ω in the direction of the sensitive axis, the two interference loops are on both sides of the initial motion axis of the atoms, and the two atomic interference signals measured by the detection module are:

[0036] S1=A1+B1cos(k eff aT 2 -2k eff ΩvT 2 +ΔωT+Δφ0)

[0037] S2=A2+B2cos(-k eff aT 2 -2k eff ΩvT 2 -ΔωT+Δφ0)

[0038] Among them, A1, A2 are signal biases, B1, B2 are signal amplitudes, A1, A2, B1, B2 are related to acceleration a, angular velocity Ω and atomic velocity v; k eff is the effective wave vector of the Raman laser, T is the free transmission time of the atom between two adjacent Raman lasers; Δφ0 is other non-inertial phase shift, which is different from the Raman laser phase shift It is related to factors such as AC Stark phase shift.

[0039] Preferably, when the frequency Δω is scanned, interference fringes will appear near different frequency values ​​in the two atomic interference signals, and the frequency values ​​Δω1 and Δω2 of the envelope centers of the two atomic interference signals respectively satisfy:

[0040] Δω1=k eff (-a+2Ωv)T

[0041] Δω2=k eff (-a-2Ωv)T

[0042] The envelope peak search algorithm is used to solve the envelope center frequencies Δω1 and Δω2 of the two atomic interference signals S1 and S2, and the acceleration and angular velocity values ​​can be solved:

[0043]

[0044] Compared with the prior art, the present invention has the following advantages:

[0045] (1) The present invention is an absolute measurement method for acceleration and angular velocity, which can simultaneously measure the acceleration and angular velocity values ​​through the decoupled output of a dual-loop atomic interferometer;

[0046] (2) The measurement method of the present invention is not limited to the measurement range of (0, π) and can achieve a large measurement range. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The invention provides a large-range acceleration and angular velocity decoupling measurement step for the atomic interference inertial sensor;

[0048] Figure 2 It is a schematic diagram of the composition of the atomic interference inertial sensor system of the present invention;

[0049] Figure 3 It is a schematic diagram of the atomic interference loop when the Raman laser wave vector directions are the same according to the present invention;

[0050] Figure 4 It is a schematic diagram of the atomic interference loop when the Raman laser wave vector directions of the present invention are opposite.

[0051] Description of the accompanying drawings:

[0052] 10. Atomic source; 20. Vacuum chamber; 30. Laser module; 40. Detection module; 50. Control module. DETAILED DESCRIPTION

[0053] In the present invention, an atomic interference inertial sensor is composed of Figure 2 As shown, it mainly includes: an atomic source 10, a vacuum chamber 20, a laser module 30, a detection module 40, and a control module 50; wherein:

[0054] The vacuum chamber 20 provides a vacuum environment for the regulation of atoms;

[0055] The atomic source 10 is located in the vacuum chamber 20 and is capable of generating atomic vapor;

[0056] The laser module 30 emits various types of lasers to regulate the atoms in the vacuum chamber 20, such as cooling laser, state preparation laser, Raman laser, detection laser, etc.;

[0057] The detection module 40 detects the number of atoms at a certain energy level in the vacuum chamber (20) by using a laser-induced fluorescence method or an absorption method. It receives the fluorescence signal emitted by the atoms or detects the detection light signal absorbed by the atoms, and outputs an electrical signal to the control module;

[0058] The control module 50 receives the electrical signal output by the detection module and can adjust the laser power, frequency and phase of the laser system 30 .

[0059] in:

[0060] The various types of lasers emitted by the laser module 30 include: cooling laser, state preparation laser, Raman laser and detection laser, etc., among which:

[0061] Cooling lasers are used to slow down atoms;

[0062] The ground state preparation laser is used to prepare atoms to a specific ground state energy level;

[0063] Raman lasers are used to coherently manipulate atoms, causing them to undergo two-photon stimulated Raman transitions. There are three Raman lasers in total, which respectively cause atoms to undergo coherent beam splitting, reflection, and beam combining. Each Raman laser has two basic frequency components, ω1 and ω2, and the actual frequency components of each Raman laser and the frequency difference between different Raman lasers can be set according to usage.

[0064] The inertial sensor in the present invention utilizes the principle of two-way atomic interference, and the measurement method of the present invention takes the acceleration and angular velocity of the moving carrier as the measurement target;

[0065] The acceleration and angular velocity decoupling measurement method using the above-mentioned atomic interferometric inertial sensor is as follows: Figure 1 As shown, specifically:

[0066] S100: In the vacuum chamber 20, the atomic source 10 is heated to generate atomic vapor, which forms a hot atomic beam after passing through the collimator, or interacts with the cooling laser in the laser module 30 to form a cold atomic beam or atomic cloud; the atomic interferometric inertial sensor adopts a two-way opposing structure, and the two atomic beams or atomic clouds generated have the same path. Subsequently, it interacts with the state preparation laser in the laser module 30, is prepared to a specific ground state energy level, and obtains the state-prepared atom.

[0067] S110: Raman lasers usually have two basic frequency components ω1 and ω2, which cause atoms to undergo two-photon stimulated Raman transitions. The frequency components of the first Raman laser, the second Raman laser, and the third Raman laser in the laser module 30 are set to be: ω1 and (ω2+Δω / 2), ω1 and ω2, ω1 and (ω2-Δω / 2), respectively, where Δω is the set laser frequency difference (the frequency difference between the first Raman laser and the third Raman laser), and the initial phase differences of the two frequency components of each Raman laser are: The laser frequency and phase can be adjusted using the control module 50. The atoms at the ground state energy level interact with the Raman laser in the laser module 30 to achieve coherent beam splitting, reflection, and beam combination of the atoms, resulting in Mach-Zehnder interference, which is detected by the detection module 40 to obtain two atomic interference signals.

[0068] S120: Scan the laser frequency difference Δω between the first path and the third path. The atoms after interference in the two paths pass through their respective detection modules 40. The number of atoms in a certain energy level is detected by absorption method or laser induced fluorescence method. Two paths of atomic interference fringe signals S1 and S2 with outer envelopes can be detected.

[0069] S130: The control module 50 can calculate the acceleration and angular velocity information that the dual-path atomic interferometer is sensitive to based on the atomic interference configuration and the detected two-path interference signals S1 and S2 with outer envelopes.

[0070] The atom interferometer is sensitive to the acceleration in the Raman laser direction and the angular velocity perpendicular to the interference area. When the dual-loop scheme is used, the Raman laser wave vector directions acting on the two atoms are the same or opposite, corresponding to the interference areas in different directions, respectively. Figure 3 and Figure 4 In different cases, the form of atomic interference signal is also different.

[0071] exist Figure 3 As shown in the figure, when the Raman laser wave vectors of the two atomic sources are in the same direction, when the system has an acceleration a and an angular velocity Ω in the direction of the sensitive axis, the two atomic sources act on the Raman laser in the upward direction of the effective wave vector, and the two interference loops are on the same side of the initial atomic motion axis. The detected two-way atomic interference signals S1 and S2 with external envelopes are:

[0072] S1=A1+B1cos(k eff aT 2 -2k eff ΩvT 2 +ΔωT+Δφ0),

[0073] S2=A2+B2cos(k eff aT 2 +2k eff ΩvT 2 -ΔωT+Δφ0).

[0074] Among them, A1, A2 are signal bias, B1, B2 are signal amplitudes, and A1, A2, B1, B2 are related to acceleration a, angular velocity Ω and atomic velocity v. effis the effective wave vector of the Raman laser, T is the free transmission time of the atom between two adjacent Raman lasers. Δφ0 is other non-inertial phase shift, which is different from the Raman laser phase shift. It is related to factors such as AC Stark phase shift.

[0075] When the frequency Δω is scanned, interference fringes will appear near different frequency values ​​in the two atomic interference signals S1 and S2. According to the interference theory, the envelope center frequency values ​​of the two atomic interference signals S1 and S2 satisfy:

[0076] Δω1=k eff (-a+2Ωv)T,

[0077] Δω2=k eff (a+2Ωv)T.

[0078] The envelope peak search algorithm is used to solve the envelope center frequencies Δω1 and Δω2 of the two atomic interference signals S1 and S2, and the acceleration and angular velocity values ​​can be solved:

[0079]

[0080] exist Figure 4 As shown in the figure, when the Raman laser wave vectors of the two atomic actions are in opposite directions, when the atomic interference inertial sensor has acceleration a and angular velocity Ω in the direction of the sensitive axis, the atomic source on one side acts on the Raman laser with the effective wave vector in the upward direction (solid line), while the atomic source on the other side acts on the Raman laser with the effective wave vector in the downward direction (dashed line), and the two interference loops are on both sides of the initial motion axis of the atoms. Therefore, in this case, the two atomic interference signals measured by the detection system are:

[0081] S1=A1+B1cos(k eff aT 2 -2k eff ΩvT 2 +ΔωT+Δφ0),

[0082] S2=A2+B2cos(-k eff aT 2 -2k eff ΩvT 2 -ΔωT+Δφ0).

[0083] When the frequency Δω is scanned, interference fringes will appear near different frequency values ​​in the two atomic interference signals. According to the interference theory, the frequency values ​​of the envelope centers of the two atomic interference signals satisfy:

[0084] Δω1=k eff (-a+2Ωv)T,

[0085] Δω2=k eff (-a-2Ωv)T.

[0086] The envelope peak search algorithm is used to solve the envelope center frequencies Δω1 and Δω2 of the two atomic interference signals S1 and S2, and the acceleration and angular velocity values ​​can be solved:

[0087]

[0088] Therefore, by scanning the frequency of the Raman laser and calculating the frequency value at the center of the interference fringe envelope, the decoupled output of acceleration and angular velocity can be achieved.

[0089] Example:

[0090] The following examples further illustrate the implementation steps and calculation methods of the present invention. Figure 1 As shown, the specific steps of a method for decoupling the measurement of a large range of acceleration and angular velocity of an atomic interferometric inertial sensor are as follows:

[0091] S100: In the vacuum chamber 20, atoms are ejected from the furnace by heating the atom source 10, and the ejected atoms form an atomic beam. The atomic beam can be cooled laterally to reduce its temperature. A two-way atomic beam source structure is adopted, and the movement paths of the two atomic beams need to coincide. After the atomic beam is emitted, it interacts with the state preparation laser in the laser module 30 and is prepared to the ground state magnon energy level that is insensitive to the magnetic field, so as to reduce the influence of magnetic field fluctuations on the interference signal.

[0092] S110: Raman lasers usually have two basic frequency components ω1 and ω2, which cause atoms to undergo two-photon stimulated Raman transitions. The frequencies and phases of the three Raman lasers are adjusted by the control module 50. The frequency components of Raman laser 1, Raman laser 2, and Raman laser 3 are set to be: ω1 and (ω2+Δω / 2), ω1 and ω2, ω1 and (ω2-Δω / 2), and the initial phase differences of the two frequency components are: The RF drive of the three Raman lasers needs to be referenced to the same clock to ensure the relative phase stability of the three Raman lasers. The bidirectionally irradiated atomic beams interact with the three Raman lasers in the laser module (30) respectively, and by controlling the frequency, phase, action time and other parameters of the Raman lasers, the coherent splitting, reflection and combination of the atomic beams are achieved, and Mach-Zehnder interference occurs. A bidirectionally irradiated atomic interferometer can form a dual-loop configuration, and the acceleration and angular velocity sensitive directions of the two interferometers depend on the directions of the sensitive Raman laser wave vectors.

[0093] S120: After the two-way atomic beams interact with the Raman laser, they pass through their respective detection modules (40) and can detect the number of atoms at a specific energy level using an absorption method or a laser-induced fluorescence method. The control module 50 scans the Δω term in the Raman laser frequency difference. Since the atomic longitudinal velocity has a certain distribution line width, an atomic interference fringe signal with an outer envelope can be detected.

[0094] S130: By designing different Raman laser structures, the interference configuration of the bidirectionally irradiated atomic beams can be designed. The two-way interference signals S1 and S2 detected by the control module 50 can be used to calculate the acceleration and angular velocity information that the two-way atomic interferometer is sensitive to according to the designed atomic interference configuration.

[0095] by Figure 3 Taking the interference configuration shown as an example, the specific calculation method is as follows:

[0096] Raman laser can be generated by an optical phase-locked loop. It can realize that the incident light is a dual-frequency laser, and the polarization directions of the two frequency components are perpendicular. In the reflection loop, one of the polarization components is filtered out by adding a polarization beam splitter (PBS) and a λ / 4 wave plate, so that only one pair of Raman light exists when the atom interacts with the Raman light. In this case, a dual-loop atomic interference configuration with the same effective wave vector direction of the Raman laser can be realized. The atom interferometer is sensitive to the acceleration in the direction of the Raman laser and the angular velocity perpendicular to the interference area. When the system has an acceleration a and an angular velocity Ω in the direction of the sensitive axis, the atomic sources on the left and right sides both interact with the Raman laser in the upward direction of the effective wave vector, and the two interference loops are on the same side of the initial motion direction of the atoms. Therefore, the two-way atomic interference signals detected are:

[0097] S1=A1+B1cos(k eff aT 2 -2k eff ΩvT 2 +ΔωT+Δφ0),

[0098] S2=A2+B2cos(k eff aT 2 +2k eff ΩvT 2 -ΔωT+Δφ0).

[0099] Among them, A1, A2 are signal biases, B1, B2 are signal amplitudes, which are related to acceleration a, angular velocity Ω and atomic velocity v. eff is the effective wave vector of the Raman laser, T is the free transmission time of the atom between two adjacent Raman lasers. Δφ0 is other non-inertial phase shift, which is different from the Raman laser phase shift. It is related to factors such as AC Stark phase shift.

[0100] When the frequency Δω is scanned, interference fringes will appear near different frequency values ​​in the two atomic interference signals. According to the interference theory, the frequency values ​​of the envelope centers of the two atomic interference signals satisfy:

[0101] Δω1=k eff (-a+2Ωv)T,

[0102] Δω2=k eff (a+2Ωv)T.

[0103] The control module 50 is used to collect the atomic interference signal, and the envelope peak search algorithm is used to solve the envelope center frequencies Δω1 and Δω2 of the two atomic interference signals S1 and S2, and the acceleration and angular velocity values ​​can be solved:

[0104]

[0105] When solving the envelope center frequency value from the atomic interference signals S1 and S2, the envelope peak search algorithm can be used. Commonly used envelope peak search algorithms include: extreme value method, envelope fitting method, phase shift method, Fourier transform method, Hilbert transform method, five-step method / seven-step method, etc. A lock-in amplifier can also be used to extract the atomic interference signal envelope.

[0106] If the Raman light is modulated by an electro-optical modulator (EOM), there will be two pairs of Raman light when the atoms interact with the Raman light. At this time, the Raman light angle can be rotated to make it interact with only one pair of Raman light, and the effective wave vector directions of the Raman laser selected by the two atomic beams are opposite, that is, Figure 4 shown.

[0107] The present invention discloses an atomic interference inertial sensor including an atomic source, a vacuum chamber, a laser module, a detection module, and a control module. The present invention also proposes a large-range acceleration and angular velocity decoupling measurement method of an atomic interference inertial sensor, which uses a bidirectionally directed atomic beam to act on a three-way Raman laser to cause coherent beam splitting, reflection, and beam combination, and then generates Mach-Zehnder interference. The frequency of the three-way Raman laser is scanned by a frequency modulation method. Since the atomic source usually has a certain velocity distribution, an atomic interference signal with an outer envelope can be observed. Through the envelope peak search algorithm, the frequency value corresponding to the envelope center point can be calculated. According to the different positions of the envelope center points of the dual-loop atomic interference signal, the acceleration and angular velocity information to which the atomic interference inertial sensor is sensitive can be decoupled at the same time. The test method of the present invention can realize real-time decoupling measurement of acceleration and angular velocity, and its measurement range is not limited to the phase limit of (0, π), and a large-range measurement can be realized. In addition, the scheme for measuring acceleration and angular velocity by this method is an absolute measurement method.

[0108] The contents not described in detail in the specification of the present invention belong to the prior art known to the professional and technical personnel in this field.

Claims

1. An atomic interferometric inertial sensor, characterized in that include: An atomic source (10), a vacuum chamber (20), a laser module (30), a detection module (40), and a control system module (50); wherein: The vacuum chamber (20) provides a vacuum environment for the regulation of atoms; The atomic source (10) is located in the vacuum chamber (20) and is capable of generating atomic vapor; The laser module (30) emits various types of lasers for regulating atoms; The detection module (40) detects the number of atoms at a certain energy level in the vacuum chamber (20), receives the fluorescence signal emitted by the atoms or detects the detection light signal absorbed by the atoms, and outputs an electrical signal to the control module; The control module (50) receives the electrical signal output by the detection module and can adjust the laser power, frequency and phase of the laser system (30).

2. The atomic interferometer inertial sensor according to claim 1, characterized in that: The various types of lasers emitted by the laser module (30) include: cooling laser, state preparation laser, Raman laser and detection laser, wherein: Cooling lasers are used to slow down atoms; The ground state preparation laser is used to prepare atoms to a specific ground state energy level; Raman lasers are used for coherent manipulation of atoms, causing atoms to undergo two-photon stimulated Raman transitions; the Raman lasers emitted by the laser module (30) include three paths in total, which respectively cause atoms to undergo coherent beam splitting, reflection and beam combining; each path of Raman lasers has two basic frequency components ω1 and ω2, and the actual frequency component of each path of Raman lasers and the frequency difference between different paths of Raman lasers can be set according to usage conditions.

3. The atomic interferometer inertial sensor according to claim 1, characterized in that: The detection module (40) can detect the number of atoms in a certain energy level by using an absorption method or a laser induced fluorescence method.

4. A method for measuring acceleration and angular velocity decoupling of an atomic interferometric inertial sensor, characterized in that include: S100: In a vacuum chamber (20), an atom source (10) is heated to generate atomic vapor, and the atomic vapor forms a hot atomic beam after passing through a collimator, or the atomic vapor interacts with a cooling laser in a laser module (30) to form a cold atomic beam or an atomic cloud; an atomic interferometric inertial sensor adopts a bidirectional opposing structure to generate two atomic beams or atomic clouds with the same path, which then interact with a state preparation laser in the laser module (30) to be prepared to a specific ground state energy level, thereby obtaining atoms after state preparation; S110: setting the frequency components and initial phase differences of the first Raman laser, the second Raman laser, and the third Raman laser in the laser module (30); the atoms after the state preparation interact with the Raman lasers in the laser module (30) respectively, so that the atoms undergo coherent beam splitting, reflection, and beam combination, resulting in Mach-Zehnder interference, and the detection module (40) detects and obtains two-path atomic interference signals; S120: Scanning the frequency difference Δω between the first Raman laser and the third Raman laser, the atoms after the two interferences pass through the corresponding detection module (40), and the number of atoms at a certain energy level is detected; two atomic interference fringe signals S1 and S2 with outer envelopes can be detected; S130: The control module (50) calculates the acceleration and angular velocity information sensed by the dual-path atomic interferometer according to the atomic interference configuration and the two-path interference signals S1 and S2 with outer envelopes.

5. The acceleration and angular velocity decoupling measurement method of an atomic interferometer inertial sensor according to claim 4, characterized in that: The frequency components and initial phase differences of the first Raman laser, the second Raman laser, and the third Raman laser in the laser module (30) are set as follows: The frequency components of the first Raman laser are ω1 and (ω2+Δω / 2), and the initial phase difference between the two frequency components is The frequency components of the second Raman laser are ω1 and ω2, and the initial phase difference between the two frequency components is The frequency components of the third Raman laser are ω1 and (ω2-Δω / 2), and the initial phase difference between the two frequency components is Here, ω1 represents and ω2 represent two fundamental frequency components of Raman laser, respectively.

6. The acceleration and angular velocity decoupling measurement method of an atomic interferometer inertial sensor according to claim 4, characterized in that: The atomic interferometry inertial sensor adopts a two-way opposing structure to form a dual-loop configuration. At this time, the directions of the Raman laser wave vectors acting on the two atoms are the same or opposite.

7. The acceleration and angular velocity decoupling measurement method of an atomic interferometer inertial sensor according to claim 6, characterized in that: When the Raman laser wave vectors of the two atomic actions are in the same direction, the two interference loops are on the same side of the initial atomic motion axis, and the two atomic interference signals S1 and S2 with outer envelopes detected are: S1=A1+B1cos(k eff aT 2 -2k eff ΩvT 2 +ΔωT+Δφ0) S2=A2+B2cos(k eff aT 2 +2k eff ΩvT 2 -ΔωT+Δφ0) Among them, A1 and A2 are signal biases, B1 and B2 are signal amplitudes, and A1, A2, B1, and B2 are related to acceleration a, angular velocity Ω, and atomic velocity v; k eff is the effective wave vector of the Raman laser, T is the free transmission time of the atom between two adjacent Raman lasers; Δφ0 is other non-inertial phase shift, which is different from the Raman laser phase shift It is related to factors such as AC Stark phase shift.

8. The acceleration and angular velocity decoupling measurement method of an atomic interferometer inertial sensor according to claim 7, characterized in that: When scanning Δω, the two atomic interference signals S1 and S2 will have interference fringes near different frequency values. The frequency values ​​Δω1 and Δω2 of the envelope centers of the two atomic interference signals S1 and S2 satisfy: Dω1=k eff (-a+2Ωv)T Δω2=k eff (a+2Ωv)T The envelope peak search algorithm is used to solve the envelope center frequencies Δω1 and Δω2 of the two atomic interference signals S1 and S2, and the acceleration a and angular velocity Ω can be solved as follows:

9. The acceleration and angular velocity decoupling measurement method of an atomic interferometer inertial sensor according to claim 4, characterized in that: When the Raman laser wave vectors of the two atomic actions are in opposite directions, when the atomic interference inertial sensor has acceleration a and angular velocity Ω in the direction of the sensitive axis, the two interference loops are on both sides of the initial motion axis of the atoms, and the two atomic interference signals measured by the detection module are: S1=A1+B1cos(k eff aT 2 -2k eff ΩvT 2 +ΔωT+Δφ0) S2=A2+B2cos(-k eff aT 2 -2k eff ΩvT 2 -ΔωT+Δφ0) Among them, A1, A2 are signal biases, B1, B2 are signal amplitudes, A1, A2, B1, B2 are related to acceleration a, angular velocity Ω and atomic velocity v; k eff is the effective wave vector of the Raman laser, T is the free transmission time of the atom between two adjacent Raman lasers; Δφ0 is other non-inertial phase shift, which is different from the Raman laser phase shift It is related to factors such as AC Stark phase shift.

10. The acceleration and angular velocity decoupling measurement method of an atomic interferometer inertial sensor according to claim 9, characterized in that: When the frequency Δω is scanned, interference fringes will appear near different frequency values ​​in the two atomic interference signals. The frequency values ​​Δω1 and Δω2 of the envelope centers of the two atomic interference signals satisfy: Dω1=k eff (-a+2Ωv)T Δω2=k eff (-a-2Ωv)T The envelope peak search algorithm is used to solve the envelope center frequencies Δω1 and Δω2 of the two atomic interference signals S1 and S2, and the acceleration and angular velocity values ​​can be solved:

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