Cold atom three-axis acceleration measurement system and method of attitude-free stable platform

Abstract

The invention provides a cold atom three-axis acceleration measurement system and method of an attitude-free stabilized platform, and the system comprises three cold atom interference light paths which are arranged on a carrier, and the three cold atom interference light paths are arranged in an orthogonal intersection manner by taking an atomic group trapping center as an orthogonal center; each cold atom interference light path comprises an incident light adjusting mechanism and a reflected light adjusting mechanism; the incident light adjusting mechanism is used for adjusting the angle of incident light in real time by taking orthogonal intersection of the incident light in the three cold atom interference light paths as a target; and the reflected light adjusting mechanism adjusts the angle of the reflected light in real time by taking the superposition of the reflected light and the incident light in the current cold atom interference light path as a target. The attitude of the measurement unit is stabilized without a stable platform, the acceleration measurement of three orthogonal axes is realized by adopting a time-sharing interference method of three orthogonal sensitive axes, the angle of each axis is adjusted in real time by taking three-axis orthogonality as a control target in the measurement process, the complexity of the system is greatly reduced, and the dynamic environment adaptability of the system is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cold atom interference precision measurement, and more specifically, to a cold atom three-axis acceleration measurement system and method without an attitude stabilization platform. Background Art

[0002] Three-axis acceleration measurement is of great significance in basic and cutting-edge scientific research such as resource exploration, space science, ocean science, geodesy, geophysics, and geodynamics. High-precision three-axis acceleration measurement can replace traditional gravity measurement equipment to realize the parameters of the earth's gravity field. Its measurement results also cover gravity anomaly information and vertical deviation information, providing accurate initial alignment parameters for rocket launches, manned spaceflight, and lunar exploration projects, and can effectively serve space science; high-precision three-axis acceleration measurement can effectively improve the accuracy of passive navigation information, suppress the error divergence of inertial navigation, and significantly improve the long-duration covert autonomous navigation capability and positioning accuracy.

[0003] Cold atom interferometry has developed rapidly in the past 20 years. It has been widely used in precision measurement physics and basic physics research, and has achieved fruitful results. The cold atom three-axis acceleration measurement method uses cold atomic groups as the research object, and the atomic energy level structure is very stable. Therefore, it has the advantages of high precision, good stabilization, low drift, and no mechanical wear and long service life. The basic working principle of cold atom three-axis acceleration measurement is: cold atomic groups interfere under the action of π / 2-π-π / 2 Raman laser pulse sequences in different directions to achieve interference measurement in each direction, and then jointly solve and filter with the measurement values ​​of the force balance accelerometer in each measurement axis to achieve acceleration measurement in each measurement axis.

[0004] However, conventional cold atom three-axis acceleration measurement instruments require a specially designed stable platform to stabilize the posture of the measurement unit. This requires considering both the stability of the platform operation and the range of the cold atom interferometer, resulting in a complex system structure that is difficult to miniaturize. Summary of the invention

[0005] The present invention aims at the technical problems existing in the prior art and provides a cold atom three-axis acceleration measurement system and method without an attitude stabilization platform to solve the problem of complex system structure of conventional cold atom acceleration measurement instruments.

[0006] According to a first aspect of the present invention, a cold atom three-axis acceleration measurement system without an attitude stabilization platform is provided, comprising three cold atom interference optical paths arranged on a carrier, wherein the three cold atom interference optical paths are arranged to be orthogonal and intersecting with the atomic group trapping center as the orthogonal center; Each of the cold atom interference optical paths includes an incident light adjustment mechanism and a reflected light adjustment mechanism; The incident light adjustment mechanism adjusts the angle of the incident light in real time with the goal of orthogonally converging the incident light in the three cold atom interference light paths; The reflected light adjustment mechanism adjusts the angle of the reflected light in real time with the goal of making the reflected light coincide with the incident light in the current cold atom interference light path.

[0007] Based on the above technical solution, the present invention can also make the following improvements.

[0008] Optionally, the cold atom interference optical path includes a laser beam expansion and collimation assembly, an incident light reflector, a folding mirror group, a reflected light reflector, and a force balance accelerometer sequentially arranged along the optical axis, wherein: The laser beam expansion and collimation assembly is used to sequentially adjust the diameter, collimation and polarization state of the input laser to obtain incident light that can switch between linear polarization and circular polarization; The incident light reflector is connected to the incident light adjustment mechanism and is used to adjust the optical axis angle of the linearly polarized incident light so that the three-axis incident light is orthogonal; The folding mirror group is used to make the linearly polarized incident light converge toward the atomic group trapping center; The reflected light reflector is connected to the reflected light adjustment mechanism and is used to reflect the incident light passing through the atomic group so that the obtained reflected light coincides with the incident light; The force balance accelerometer is connected to the reflected light adjustment mechanism and is used for collecting force balance acceleration measurement data in real time.

[0009] Optionally, the incident light adjustment mechanism and / or the reflected light adjustment mechanism comprises an adjustment platform driven by a motor.

[0010] Optionally, it further includes a posture detection unit disposed on the carrier, wherein the posture detection unit detects real-time posture information of the carrier; The incident light adjustment mechanism adjusts the angle of the incident light in real time according to the real-time posture information of the carrier, with the goal of orthogonal intersection of the incident light in the three cold atom interference light paths; The reflected light adjustment mechanism adjusts the angle of the reflected light in real time according to the real-time posture information of the carrier and takes the coincidence of the reflected light and the incident light in the current cold atom interference light path as the goal.

[0011] Optionally, it also includes a photodetector, which is arranged adjacent to the atomic cluster to be measured, and the photodetector does not interfere with the three cold atom interference light paths. The photodetector is used to detect the atomic fluorescence signal of the atomic cluster and perform atomic state population distribution calculations to obtain three-axis atomic interference information.

[0012] Optionally, a joint solution module is also included, which is used to jointly solve the real-time posture information of the carrier, the three-axis atomic interference information and the force balance acceleration measurement data to obtain the three-axis acceleration measurement data and the force balance accelerometer bias estimation value.

[0013] Optionally, the incident light adjustment mechanism and the reflected light adjustment mechanism are initialized with the orthogonal zero position as the target at the beginning of each measurement cycle. When the incident light adjustment mechanism and the reflected light adjustment mechanism are at the orthogonal zero position, the optical axes of the three incident lights are arranged to intersect orthogonally with the atomic group trapping center as the orthogonal center.

[0014] According to a second aspect of the present invention, a method for measuring cold atom triaxial acceleration without an attitude stabilization platform is provided. Based on the cold atom triaxial acceleration measurement system without an attitude stabilization platform, the method comprises: In a single measurement cycle, the incident light adjustment mechanism and the reflected light adjustment mechanism are initialized with the orthogonal zero position as the target, so that the optical axes of the three cold atom interference light paths are set to be orthogonal and intersecting with the atomic group trapping center as the orthogonal center; Collect force balance acceleration measurement data and real-time attitude information of the carrier; The three-axis time-sharing interference method is adopted to measure the three-axis atomic interference information when the three cold atomic interference light paths act on the cold atomic group in sequence; according to the real-time posture information of the carrier and with the three-axis orthogonality as the goal, the angles of the three axes are adjusted in real time; The force balance acceleration measurement data, the three-axis atomic interference information and the real-time posture information of the carrier are jointly solved to obtain the three-axis acceleration measurement data.

[0015] Optionally, the three-axis time-sharing interference method is used to sequentially measure the acceleration measurement data when three cold atom interference light paths act on the cold atom group, including: Control the first atomic group cooling and trapping, and perform interference measurement on the first cold atom interference optical path to obtain the first axis atomic interference information; Control the cooling and trapping of the second atomic group, and perform interference measurement on the second cold atom interference optical path to obtain the second axis atomic interference information; The third atomic cluster cooling and trapping is controlled, and the third cold atom interference optical path is used for interference measurement to obtain the third-axis atomic interference information.

[0016] Optionally, a joint solution is performed based on the force balance acceleration measurement data, the three-axis atomic interference information and the real-time posture information of the carrier to obtain a force balance accelerometer bias estimate, and the force balance accelerometer is calibrated using the force balance accelerometer bias estimate.

[0017] The present invention provides a cold atom three-axis acceleration measurement system and method without an attitude stabilization platform. The system does not require a stabilization platform to stabilize the attitude of the measurement unit, and adopts a time-sharing interference method of three orthogonal sensitive axes to realize acceleration measurement of the three orthogonal axes. During the measurement process, the three-axis orthogonality is used as the control target, and the angle of each axis is adjusted in real time to keep the three-axis optical path in its orthogonal state, which greatly reduces the system complexity of the three-axis acceleration measurement equipment and improves the system's adaptability to dynamic environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of a cold atom three-axis acceleration measurement system without an attitude stabilization platform provided in an embodiment of the present invention; Figure 2 A schematic flow chart of a method for measuring cold atom triaxial acceleration without an attitude stabilization platform provided in an embodiment of the present invention.

[0019] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1 / 2 / 3, laser beam expansion and collimation assembly, 4 / 5 / 6, incident light reflector, 7 / 8 / 9, folding mirror assembly, 10 / 11 / 12, reflected light adjustment mechanism, 13 / 14 / 15, reflected light reflector, 16 / 17 / 18, incident light adjustment mechanism, 19, atomic group trapping center. DETAILED DESCRIPTION

[0020] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0021] Figure 1 A schematic diagram of the optical path composition structure of a cold atom three-axis acceleration measurement system without an attitude stabilization platform provided in an embodiment of the present invention.

[0022] like Figure 1 As shown, the present embodiment provides a cold atom triaxial acceleration measurement system without an attitude stabilization platform, comprising three cold atom interference optical paths arranged on a carrier, wherein the three cold atom interference optical paths are arranged with the atomic group trapping center 19 as an orthogonal center and are orthogonally intersecting; Each of the cold atom interference optical paths comprises an incident light adjustment mechanism 16 / 17 / 18 and a reflected light adjustment mechanism 10 / 11 / 12; The incident light adjustment mechanism 16 / 17 / 18 adjusts the angle of the incident light in real time with the goal of orthogonally converging the incident light in the three cold atom interference light paths; The reflected light adjustment mechanism 10 / 11 / 12 adjusts the angle of the reflected light in real time with the goal of making the reflected light coincide with the incident light in the current cold atom interference light path.

[0023] It is understandable that, based on the defects in the background technology, the embodiment of the present invention proposes a cold atom triaxial acceleration measurement system without an attitude stabilization platform. In this system, the atomic groups are cooled and trapped in Figure 1 The atomic group trapping center 19 shown in the figure, three cold atom interference optical paths are used as three orthogonal sensitive axes, and are mutually orthogonal with the atomic group trapping center 19 as the orthogonal center. The three orthogonal sensitive axes are used for time-sharing interference method to achieve acceleration measurement of three orthogonal axes, which guarantees the measurement range and greatly reduces the system complexity of the three-axis acceleration measurement equipment. During the test, the incident light adjustment mechanism 16 / 17 / 18 and the reflected light adjustment mechanism 10 / 11 / 12 use the three-axis orthogonality as the control target and adjust the angle of each axis in real time. There is no need for a special stabilization platform to stabilize the posture of the measurement unit, which further reduces the complexity of the system and improves the system's adaptability to dynamic environments.

[0024] In a possible embodiment, Figure 1 As shown, each of the cold atom interference optical paths includes a laser beam expansion and collimation component 1 / 2 / 3, an incident light reflector 4 / 5 / 6, a folding mirror group 7 / 8 / 9, a reflected light reflector 13 / 14 / 15 and a force balance accelerometer (not shown in the figure) arranged in sequence along the optical axis. For example, the first cold atom interference optical path includes a laser beam expansion and collimation component 1, an incident light reflector 6, a folding mirror group 8, a reflected light reflector 13 and a first force balance accelerometer arranged in sequence along the optical axis; the second cold atom interference optical path includes a laser beam expansion and collimation component 2, an incident light reflector 5, a folding mirror group 9, a reflected light reflector 15 and a second force balance accelerometer arranged in sequence along the optical axis; the third cold atom interference optical path includes a laser beam expansion and collimation component 3, an incident light reflector 4, a folding mirror group 7, a reflected light reflector 14 and a third force balance accelerometer arranged in sequence along the optical axis. Wherein: The laser beam expansion and collimation components 1 / 2 / 3 are used to adjust the diameter, collimation and polarization state of the input laser in turn to obtain incident light that can switch between linear polarization and circular polarization; for example, the spot diameter of the laser beam is expanded, the collimation of the laser is improved, and the switching of circular polarization and linear polarization of the laser beam is completed to obtain incident light that can switch between linear polarization and circular polarization after beam expansion and collimation. During the working process, the incident light switches between the circular polarization mode and the linear polarization mode to achieve the cooling and interference process.

[0025] The incident light reflectors 4 / 5 / 6 are fixedly connected to the incident light adjustment mechanisms 16 / 17 / 18 in a one-to-one correspondence, and are used to reflect the incident light output by the laser beam expansion and collimation components 1 / 2 / 3 to adjust the optical axis angle of the incident light, and then pass through the folding mirror group 7 / 8 / 9 to make the three incident light beams in the three optical paths orthogonal and aligned with the atomic group trapping center 19; The folding mirror group 7 / 8 / 9 is used to make the incident light converge toward the atomic group trapping center 19, so that the incident light always converges and passes through the atomic group trapping center 19; The reflected light reflectors 13 / 14 / 15 are fixedly connected to the reflected light adjustment mechanisms 10 / 11 / 12 in a one-to-one correspondence. The reflected light adjustment mechanisms 10 / 11 / 12 adjust the reflection angles of the reflected light reflectors 13 / 14 / 15. The reflected light reflectors 13 / 14 / 15 are used to reflect incident light passing through the atomic cluster. The reflected light output by the reflected light reflectors 13 / 14 / 15 overlaps with the incident light, so that the obtained reflected light passes through the atomic cluster trapping center 19 again, thereby further realizing the miniaturization of the system. The three force balance accelerometers are integrated and arranged one by one on the reflected light adjustment mechanism 10 / 11 / 12, and are used to collect the force balance acceleration measurement data of each axis in real time.

[0026] In a possible embodiment, the system also includes a photodetector (not shown in the figure), which is arranged adjacent to the atomic cluster to be measured, and the photodetector does not interfere with the three cold atom interference light paths. The photodetector is used to detect the atomic fluorescence signal of the atomic cluster and perform atomic state population distribution calculations to obtain three-axis atomic interference information.

[0027] It is understandable that as a traditional acceleration measurement tool, the force balance accelerometer can continuously output force balance acceleration measurement data, but this measurement data has drift, so the accuracy needs to be improved. When atomic interference is performed, the three-axis atomic interference information, force balance acceleration measurement data and other parameters are combined for comprehensive solution to obtain the three-axis acceleration measurement data after error elimination, and the error value can also be calculated for correction of the force balance accelerometer. When atomic interference is not performed, the acceleration measurement data output by the corrected force balance accelerometer is used as the three-axis acceleration measurement data, which can effectively prevent the measurement dead zone problem.

[0028] In a possible embodiment, the incident light adjustment mechanism 16 / 17 / 18 and / or the reflected light adjustment mechanism 10 / 11 / 12 comprises an adjustment platform driven by a motor, for example, an adjustment platform driven by a voice coil motor.

[0029] It can be understood that the voice coil motor is a motor based on the principle of electromagnetic induction, which has the advantages of simple structure, easy control, fast response speed and high positioning accuracy. It can achieve fast response and high-precision control of the incident light reflector 4 / 5 / 6 and the reflected light reflector 13 / 14 / 15 to ensure the accuracy of the optical path adjustment.

[0030] In a possible embodiment, the incident light adjustment mechanism 16 / 17 / 18 and the reflected light adjustment mechanism 10 / 11 / 12 are initialized with the orthogonal zero position as the target at the beginning of each measurement cycle. When the incident light adjustment mechanism 16 / 17 / 18 and the reflected light adjustment mechanism 10 / 11 / 12 are at the orthogonal zero position, the three incident light axes are arranged to be orthogonally intersected with the atomic group trapping center 19 as the orthogonal center. Initializing the system in each measurement cycle so that the incident light adjustment mechanism 16 / 17 / 18 and the reflected light adjustment mechanism 10 / 11 / 12 return to the orthogonal zero position is beneficial to improving the detection accuracy of the system.

[0031] In a possible embodiment, the system further includes a posture detection unit ( Figure 1 (not shown), the posture detection unit detects real-time posture information of the carrier; The incident light adjustment mechanism 16 / 17 / 18 adjusts the angle of the incident light in real time according to the real-time posture information of the carrier, with the orthogonal intersection of the incident light in the three cold atom interference light paths as the goal; according to the real-time posture information of the carrier, the incident light adjustment mechanism 16 / 17 / 18 is converted to the same coordinate system as the carrier to adjust the angle of the incident light, thereby improving the adjustment accuracy; The reflected light adjustment mechanism 10 / 11 / 12 adjusts the angle of the reflected light in real time according to the real-time posture information of the carrier and takes the coincidence of the reflected light and the incident light in the current cold atom interference light path as the goal, so that the reflected light obtained by the reflected light reflector 13 / 14 / 15 returns along the original path and passes through the atomic group trapping center 19 again.

[0032] In a possible embodiment, the system also includes a joint solution module, which is used to jointly solve the real-time posture information of the carrier, the three-axis atomic interference information and the force balance acceleration measurement data to obtain the three-axis acceleration measurement data and the force balance accelerometer bias estimation value.

[0033] Based on the above-mentioned system embodiments, this embodiment also provides a cold atom three-axis acceleration measurement method without an attitude stabilization platform. Figure 2 The figure shows a flow chart of the measurement method of this embodiment. This embodiment provides a cold atom triaxial acceleration measurement method without an attitude stabilization platform, including: (1) At the beginning of a single measurement cycle, the incident light adjustment mechanism 16 / 17 / 18 and the reflected light adjustment mechanism 10 / 11 / 12 are initialized with the orthogonal zero position as the target, so that the optical axes of the three cold atom interference light paths are set with the atomic group trapping center 19 as the orthogonal center and are orthogonally intersecting; (2) Continuously collect force balance acceleration measurement data and real-time attitude information of the carrier; (3) In a single measurement cycle, the three-axis time-sharing interferometry method is used to measure the three-axis atomic interference data when the three cold atom interference light paths act on the cold atom cluster in sequence; Figure 2 As shown, for example: Control the first atomic group cooling and trapping, and perform interference measurement on the first cold atom interference optical path (i.e., the first measurement axis) to obtain the first-axis atomic interference data; Control the cooling and trapping of the second atomic group, and perform interference measurement on the second cold atom interference optical path (i.e., the second measurement axis) to obtain the second-axis atomic interference data; Control the cooling and trapping of the third atomic group, and perform interference measurement on the third cold atom interference optical path (i.e., the third measurement axis) to obtain the third-axis atomic interference data; (4) According to the real-time posture information of the carrier, the angles of the three axes are adjusted in real time with the three axes orthogonal as the goal; (5) The three-axis atomic interference information, the real-time attitude information of the carrier and the force balance acceleration measurement data are jointly solved and filtered to obtain the three-axis acceleration measurement data and the force balance accelerometer bias estimation value, and then the force balance accelerometer is calibrated according to the force balance accelerometer bias estimation value.

[0034] (6) Repeat steps (1) to (5).

[0035] It is understandable that, combined with Figure 1 and Figure 2 As shown, Figure 2 As shown, the cold atom three-axis acceleration measurement method without an attitude stabilization platform adopts a time-sharing interference method of three orthogonal sensitive axes, and performs a measurement cycle in the order of first atomic group trapped cooling, measurement axis 1 interference measurement, atomic group trapped cooling, measurement axis 2 interference measurement, atomic group trapped cooling, and measurement axis 3 interference measurement, and each cycle is a measurement cycle. During a single cycle, the three-axis atomic interference information and the force balance accelerometer measurement information of the measurement cycle are converted to the same coordinate system according to the real-time attitude information of the carrier for joint data solution and filtering, and the drift-eliminating three-axis acceleration signal measurement value is output, and the force balance accelerometer bias estimation acquisition is completed synchronously, and the force balance accelerometer can be calibrated by the force balance accelerometer bias estimation value. After completing a single measurement process, the incident light adjustment mechanism 16 / 17 / 18 and the reflected light adjustment mechanism 10 / 11 / 12 are initialized at the beginning of each measurement cycle to return to the orthogonal zero position. During the measurement process, the incident light adjustment mechanism 16 / 17 / 18 and the reflected light adjustment mechanism 10 / 11 / 12 take the orthogonal zero position initialized at the beginning of the cycle as the target, and adjust the angles of the incident light reflectors 4 / 5 / 6 and the reflected light reflectors 13 / 14 / 15 in real time according to the real-time posture information of the outside world (carrier) so that the three pairs of orthogonal intersecting light beams remain overlapped.

[0036] The cold atom three-axis acceleration measurement system and method without an attitude stabilization platform provided in the embodiments of the present invention have the following advantages: (1) No stabilization platform is required to stabilize the attitude of the measurement unit. The three orthogonal sensitive axes are interferometrically measured to achieve acceleration measurement on three orthogonal axes, which greatly reduces the system complexity of the three-axis acceleration measurement equipment and improves the system's adaptability to dynamic environments.

[0037] (2) Three folding mirror groups are used to ensure that the beam always passes through the atomic cluster trapping center 19 during the beam stabilization process, so that the atomic cluster trapping cooling and interference process can be completed with a beam of smaller radius, thereby improving the robustness of the system.

[0038] (3) The incident light adjustment mechanism 16 / 17 / 18 and the reflected light adjustment mechanism 10 / 11 / 12 return to the orthogonal zero position at the beginning of each measurement cycle, and take the orthogonal zero position initialized at the beginning of the cycle as the target in each measurement cycle. According to the external posture information, the angles of the incident light reflectors 4 / 5 / 6 and the reflected light reflectors 13 / 14 / 15 are adjusted in real time to keep the three pairs of orthogonal light beams overlapped, reduce the actual stroke of the adjustment mechanism, solve the problem of insufficient stroke of the adjustment mechanism in a dynamic measurement environment, and improve the system's adaptability to dynamic environments.

[0039] 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.

[0040] 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.

[0041] 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 cold atom three-axis acceleration measurement system without an attitude stabilization platform, characterized in that: It comprises three cold atom interference optical paths arranged on a carrier, wherein the three cold atom interference optical paths are arranged to be orthogonally intersected with the atomic group trapping center as the orthogonal center; Each of the cold atom interference optical paths includes an incident light adjustment mechanism and a reflected light adjustment mechanism; The incident light adjustment mechanism adjusts the angle of the incident light in real time with the goal of orthogonally converging the incident light in the three cold atom interference light paths; The reflected light adjustment mechanism adjusts the angle of the reflected light in real time with the goal of making the reflected light coincide with the incident light in the current cold atom interference light path.

2. The cold atom three-axis acceleration measurement system without an attitude stabilization platform according to claim 1, characterized in that: The cold atom interference optical path includes a laser beam expansion and collimation assembly, an incident light reflector, a folding mirror group, a reflected light reflector, and a force balance accelerometer, which are sequentially arranged along the optical axis, wherein: The laser beam expansion and collimation assembly is used to sequentially adjust the diameter, collimation and polarization state of the input laser to obtain incident light that can switch between linear polarization and circular polarization; The incident light reflector is connected to the incident light adjustment mechanism and is used to adjust the optical axis angle of the linearly polarized incident light so that the three-axis incident light is orthogonal; The folding mirror group is used to make the incident light output by the incident light reflecting mirror converge toward the atomic group trapping center; The reflected light reflector is connected to the reflected light adjustment mechanism and is used to reflect the incident light passing through the atomic group so that the obtained reflected light coincides with the incident light; The force balance accelerometer is connected to the reflected light adjustment mechanism and is used for collecting force balance acceleration measurement data in real time.

3. The cold atom three-axis acceleration measurement system without an attitude stabilization platform according to claim 1 or 2, characterized in that: The incident light adjustment mechanism and / or the reflected light adjustment mechanism comprises an adjustment platform driven by a motor.

4. The cold atom three-axis acceleration measurement system without an attitude stabilization platform according to claim 3, characterized in that: It also includes a posture detection unit disposed on the carrier, the posture detection unit detecting real-time posture information of the carrier; The incident light adjustment mechanism adjusts the angle of the incident light in real time according to the real-time posture information of the carrier, with the goal of orthogonal intersection of the incident light in the three cold atom interference light paths; The reflected light adjustment mechanism adjusts the angle of the reflected light in real time according to the real-time posture information of the carrier and takes the coincidence of the reflected light and the incident light in the current cold atom interference light path as the goal.

5. The cold atom three-axis acceleration measurement system without an attitude stabilization platform according to claim 4, characterized in that: It also includes a photoelectric detector, which is arranged adjacent to the atomic cluster to be measured, and the photoelectric detector does not interfere with the three cold atom interference light paths. The photoelectric detector is used to detect the atomic fluorescence signal of the atomic cluster and perform atomic state population distribution calculation to obtain three-axis atomic interference information.

6. The cold atom three-axis acceleration measurement system without an attitude stabilization platform according to claim 5, characterized in that: It also includes a joint solution module, which is used to jointly solve according to the real-time posture information of the carrier, the three-axis atomic interference information and the force balance acceleration measurement data to obtain the three-axis acceleration measurement data and the force balance accelerometer bias estimation value.

7. The cold atom three-axis acceleration measurement system without an attitude stabilization platform according to claim 1, characterized in that: The incident light adjustment mechanism and the reflected light adjustment mechanism are initialized with the orthogonal zero position as the target at the beginning of each measurement cycle. When the incident light adjustment mechanism and the reflected light adjustment mechanism are at the orthogonal zero position, the optical axes of the three incident lights are arranged to intersect orthogonally with the atomic group trapping center as the orthogonal center.

8. A method for measuring cold atom triaxial acceleration without an attitude stabilization platform, based on the cold atom triaxial acceleration measurement system without an attitude stabilization platform according to any one of claims 1 to 7, characterized in that the method include: The incident light adjustment mechanism and the reflected light adjustment mechanism are initialized with the orthogonal zero position as the target, so that the optical axes of the three cold atom interference light paths are arranged to be orthogonally intersected with the atomic group trapping center as the orthogonal center; Collect force balance acceleration measurement data and real-time attitude information of the carrier; The three-axis time-sharing interference method is used to measure the three-axis atomic interference information when the three cold atomic interference light paths act on the cold atomic group in sequence; According to the real-time posture information of the carrier and with the three-axis orthogonality as the goal, the angles of the three axes are adjusted in real time; The force balance acceleration measurement data, the three-axis atomic interference information and the real-time posture information of the carrier are jointly solved to obtain the three-axis acceleration measurement data.

9. The cold atom triaxial acceleration measurement method without an attitude stabilization platform according to claim 8 is characterized in that: The method of using three-axis time-sharing interference to sequentially measure the acceleration measurement data when three cold atom interference light paths act on the cold atom group includes: Control the first atomic group cooling and trapping, and perform interference measurement on the first cold atom interference optical path to obtain the first axis atomic interference information; Control the cooling and trapping of the second atomic group, and perform interference measurement on the second cold atom interference optical path to obtain the second axis atomic interference information; The third atomic cluster cooling and trapping is controlled, and the third cold atom interference optical path is used for interference measurement to obtain the third-axis atomic interference information.

10. The cold atom triaxial acceleration measurement method without an attitude stabilization platform according to claim 8, characterized in that: The force balance accelerometer is calibrated by performing a joint calculation based on the force balance acceleration measurement data, the three-axis atomic interference information and the real-time attitude information of the carrier, and obtaining a bias estimate of the force balance accelerometer.

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