Double-sensitive-element decoupling method for three-axis integrated inertial measurement

Abstract

The invention relates to a double-sensitive-element decoupling method for three-axis integrated inertial measurement, which utilizes radial saddle-shaped and axial cylindrical self-shielding coils to realize an internal uniform magnetic field and an external attenuated magnetic field, so that under the condition of magnetic field decoupling, the measurement of double-sensitive-element three-axis inertial angular velocity can be realized for an SERF inertial navigation system. Usage of ultrahigh sensitive measurement in actual application fields such as inertial navigation is facilitated, the complexity is reduced, and the accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of SERF atomic spin gyroscopes, and discloses a dual-sensitive element decoupling method for three-axis integrated measurement, which helps to improve the accuracy of atomic spin inertial instruments and inertial navigation systems and simplify their structures, thus supporting their application. Background Art

[0002] Quantum precision measurement technology has become a cutting-edge field in modern science and technology. Atomic spin gyroscopes based on the spin-exchange relaxation-free (SERF) effect offer ultra-high inertial measurement sensitivity and bias stability, making them a key development direction for future ultra-high-sensitivity quantum precision measurement. The sensitive core (alkali metal gas cell) of a SERF atomic gyroscope is on the millimeter scale, and its potential for both high precision and miniaturization makes it a research hotspot in the future field of inertial navigation.

[0003] At present, SERF atomic gyroscopes often achieve single-machine dual-axis measurement through magnetic field modulation and other methods. According to the current principle, at least two gyroscopes are required to build an IMU (Inertial Measurement Unit) system. The use of multiple gyroscope prototypes to measure three-axis angular velocity results in a large system volume, complex structure, and low measurement accuracy, which is not conducive to the application of actual inertial navigation systems. The three-axis integrated measurement mentioned in the patent with patent number ZL201811022706.2, entitled A Three-Axis-Integrated SERF Inertial Measurement Principle Prototype, is a method to solve the above problems. However, in the three-axis integrated measurement of dual-sensitive elements, magnetic field coupling is one of the key technical difficulties that needs to be solved urgently. The present invention is a dual-sensitive element decoupling method for three-axis integrated inertial measurement, which uses a gyroscope to measure and output accurate angular velocity information of three axes, which is conducive to the development of miniaturized high-precision navigation technology. Summary of the Invention

[0004] The purpose of the present invention is to address the deficiencies of the existing technology and provide a dual-sensitive element decoupling method for three-axis integrated measurement. The two sensitive elements use different magnetic compensation coils to perform high-precision decoupling of the compensation magnetic field, and the consistency between the two sensitive elements is guaranteed by sharing other components. In this way, the SERF effect is guaranteed and high-precision measurement of three-axis angular velocity is achieved.

[0005] The technical solutions of the present invention are as follows:

[0006] A dual-sensor decoupling method for three-axis integrated measurement, characterized by comprising the following steps:

[0007] Step 1: Arrange a first sensitive element in the lower right portion of the passive magnetic shielding system cavity, and arrange a second sensitive element in the upper left portion; the first sensitive element has a first self-shielding coil active magnetic compensation system, and the second sensitive element has a second self-shielding coil active magnetic compensation system; set a first beam splitter prism in the lower left portion of the passive magnetic shielding system cavity, and set a second beam splitter prism in the upper right portion; the transmission side of the first beam splitter prism transmits the pumping light through the first sensitive element along the z-axis, and the reflection side of the first beam splitter prism transmits the pumping light through the second sensitive element along the x-axis; the transmission side of the second beam splitter prism transmits the detection light through the second sensitive element along the x-axis, and the reflection side of the second beam splitter prism transmits the detection light through the first sensitive element along the z-axis;

[0008] Step 2: The self-shielding coil active magnetic compensation system uses a cylindrical coil in the longitudinal direction and a double-layer saddle coil in the radial direction, so that the system can generate a highly uniform and stable magnetic field in the working area, while ensuring that the magnetic field strength outside the coil decays exponentially, thereby effectively isolating the magnetic field coupling between the two sensitive elements;

[0009] Step 3: Using a magnetic field modulation method, measure the x-axis angular velocity information and the first y-axis angular velocity information from the first sensitive element, and measure the second y-axis angular velocity information and the z-axis angular velocity information from the second sensitive element.

[0010] In step 1, the input side of the first beam splitter prism is connected to the optical pumping system, the input side of the second beam splitter prism is connected to the detection light emitting device in the optical detection system, and the detection light output side of the first sensitive element and the detection light output side of the second sensitive element are both connected to the detection light receiving devices in their respective optical detection systems.

[0011] The optical pumping system includes a pumping laser, a first λ / 2 wave plate, a first PBS prism and a λ / 4 wave plate connected in sequence, and the λ / 4 wave plate is connected to the input side of the first beam splitter prism.

[0012] The detection light emitting device includes a detection light laser, a second λ / 2 wave plate, and a second PBS prism connected in sequence, and the second PBS prism is connected to the input side of the second beam splitter prism.

[0013] The detection light receiving device includes a third λ / 2 wave plate connected to the detection light output side of the sensitive element, the third λ / 2 wave plate is connected to the input side of the third PBS prism, and the reflection side and transmission side of the third PBS prism are respectively connected to the photodetector differential structure.

[0014] The saddle coil in step 2 is a double-layer saddle coil.

[0015] The technical effects of the present invention are as follows: The present invention provides a dual-sensitive element decoupling method for three-axis integrated measurement. In order to solve the problem that the compensation magnetic fields of the two sensitive elements interfere with each other, if it is not processed, the magnetic field coupling of the dual sensitive elements will make the atomic ensemble unable to enter the SERF state. The decoupling of the weak magnetic environment and the magnetic field of the dual sensitive elements is achieved through an external unified magnetic shielding system and internal respective magnetic compensation systems. On the basis of achieving the decoupling of the dual sensitive elements, it is beneficial to ensure that the atomic ensemble is in the SERF state, thereby more accurately measuring the angular velocity information in four directions (two overlapping directions).

[0016] The present invention has the following features: (1) Placing two sensitive cores in the same magnetic shielding environment realizes a dual-sensitive element decoupling method for three-axis integrated inertial measurement, which helps reduce the complexity of the three-axis gyroscope system while ensuring consistency. (2) In response to the problem of magnetic field coupling between dual-sensitive elements, the present invention proposes a dual-sensitive element decoupling method for three-axis integrated inertial measurement based on self-shielding coils, which improves overall accuracy and stability and expands the application of SERF gyroscopes in the field of inertial navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a dual-sensor three-axis integrated inertial measurement system involved in implementing a dual-sensor decoupling method for three-axis integrated inertial measurement of the present invention.

[0018] Figure 2 Schematic diagram of the structure of the self-shielding coil active magnetic compensation system. Figure 2 (a) is a schematic diagram of the axial self-shielding coil structure. Figure 2 Middle (b) is a schematic diagram of the radial self-shielding coil structure.

[0019] The reference numerals in the figure are explained as follows: 1-passive magnetic shielding system; 2-self-shielding coil active magnetic compensation system; 3-atomic gas chamber and supporting system: 3-1-first sensitive element; 3-2-second sensitive element; 4-optical pumping system: 4-1-pumping laser; 4-2-first λ / 2 wave plate; 4-3-first PBS prism (PBS, Polarizing Beam Splitter, polarizing beam splitter prism); 4-4-λ / 4 wave plate; 4-5-first beam splitter prism; 5-optical detection system: 5-1-detection light laser; 5-2-second λ / 2 wave plate; 5-3-second PBS prism; 5-4-second beam splitter prism; 5-5-third λ / 2 wave plate; 5-6-third PBS prism; 5-7-photodetector differential structure; xyz-three axes of the rectangular coordinate system (i.e., x-axis, y-axis, and z-axis). DETAILED DESCRIPTION

[0020] Below is the attached figure ( Figure 1-Figure 2 ) and Examples illustrate the present invention.

[0021] Figure 1 It is a structural schematic diagram of a dual-sensor three-axis integrated inertial measurement system involved in implementing a dual-sensor decoupling method for three-axis integrated inertial measurement of the present invention. Figure 2 This is a structural diagram of the self-shielding coil active magnetic compensation system. Figures 1 to 2 As shown, a dual-sensitive element decoupling method for three-axis integrated measurement includes the following steps: Step 1, arranging a first sensitive element 3-1 in the lower right part of the cavity of the passive magnetic shielding system 1, and arranging a second sensitive element 3-2 in the upper left part, the first sensitive element 3-1 has a first self-shielding coil active magnetic compensation system, and the second sensitive element has a second self-shielding coil active magnetic compensation system (i.e., self-shielding coil active magnetic compensation system 2), a first beam splitter prism 4-5 is set in the lower left part of the cavity of the passive magnetic shielding system 1, and a second beam splitter prism 5-4 is set in the upper right part, the transmission side of the first beam splitter prism 4-5 will pass the pumping light through the first sensitive element 3-1 along the z-axis, and the reflection side of the first beam splitter prism 4-5 will pass the pumping light through the second sensitive element 3-2 along the x-axis, The transmission side of the second beam splitter prism 5-4 transmits the detection light through the second sensitive element 3-2 along the x-axis, and the reflection side of the second beam splitter prism 5-4 transmits the detection light through the first sensitive element 3-2 along the z-axis; Step 2, the self-shielding coil active magnetic compensation system 2 adopts a cylindrical coil in the longitudinal direction and a double-layer saddle coil in the radial direction, so that the system can generate a highly uniform and stable magnetic field in the working area, while ensuring that the external magnetic field strength of the coil decays exponentially, so that the external magnetic field quickly returns to zero, effectively isolating the magnetic field coupling between the two sensitive elements; Step 3, the magnetic field modulation method is used to measure the x-axis angular velocity information and the first y-axis angular velocity information from the first sensitive element 3-1, and the second y-axis angular velocity information and the z-axis angular velocity information from the second sensitive element 3-2.

[0022] In step 1, the input side of the first beam splitter prism 4-5 is connected to the optical pumping system 4, the input side of the second beam splitter prism 5-4 is connected to the detection light emitting device in the optical detection system 5, and the detection light emitting side of the first sensitive element 3-1 and the detection light emitting side of the second sensitive element 3-2 are both connected to the detection light receiving devices in their respective optical detection systems 5. The optical pumping system 4 includes a pump laser 4-1, a first λ / 2 wave plate 4-2, a first PBS prism 4-3, and a λ / 4 wave plate 4-4 connected in sequence. The λ / 4 wave plate 4-4 is connected to the input side of the first beam splitter prism 4-5. The detection light emitting device includes a detection light laser 5-1, a second λ / 2 wave plate 5-2, and a second PBS prism 5-3 connected in sequence. The second PBS prism 5-3 is connected to the input side of the second beam splitter prism 5-4. The detection light receiving device includes a third λ / 2 wave plate 5-5 connected to the detection light output side of the sensitive element. The third λ / 2 wave plate 5-5 is connected to the input side of a third PBS prism 5-6. The reflection side and transmission side of the third PBS prism 5-6 are respectively connected to a photodetector differential structure 5-7. The saddle coil in step 2 is a double-layer saddle coil.

[0023] A dual-sensor decoupling method for three-axis inertial measurement utilizes radial saddle-shaped and axial cylindrical self-shielding coils to achieve an internal uniform magnetic field and an external attenuated magnetic field. This method enables the measurement of three-axis inertial angular velocity using dual-sensor sensors under magnetic field decoupling conditions for use in SERF inertial navigation systems. This method is beneficial for the use of ultra-high-sensitivity measurements in practical applications such as inertial navigation, reducing complexity and improving accuracy.

[0024] A dual-sensitive element decoupling method for three-axis integrated inertial measurement utilizes dual-sensitive element magnetic field decoupling technology that combines magnetic shielding with a magnetic compensation system. In the system design, a magnetic shielding structure is first constructed using multiple layers of high-magnetic permeability materials to effectively attenuate interference from the external environmental magnetic field. At the same time, a dual-sensitive element array is arranged within the shielding barrel, each performing inertial measurements in two directions. The magnetic compensation system consists of self-shielding coils, with cylindrical coils used longitudinally and saddle coils used radially. This design enables the system to generate a highly uniform and stable magnetic field within the working area, while ensuring that the magnetic field strength outside the coil decays exponentially, effectively solving the problem of magnetic field coupling between the dual sensitive elements. Its supporting prototype system uses two alkali metal gas chambers placed in an oven and a self-shielding coil for heating and magnetic field compensation. A non-magnetic electric heating system with a double-stranded winding heating film is used to achieve a high atomic density in the sensitive element, ensuring that the system is in the SERF effect; a pump laser is used to generate laser light of corresponding frequency to polarize the alkali metal electrons in the two sensitive elements respectively, so that they have a unified direction, and the alkali metal atoms are further used to hyperpolarize the inert gas atoms to also have a unified direction; the detection system is used to extract and output the angular velocity information of the system, and the magnetic field modulation method is used to measure the angular velocity information in four directions (one redundant direction).

[0025] By introducing a self-shielding coil, efficient decoupling of the magnetic field signals between the two sensitive elements is achieved. In a dual-sensitive element structure, the magnetic field signals between the two sensitive units will interfere with each other, and this interference will directly affect the measurement accuracy and stability of the gyroscope. To solve this problem, the self-shielding coil is designed to generate a highly uniform magnetic field distribution internally, while rapidly attenuating the external magnetic field in space, thereby effectively isolating the magnetic field coupling between the two sensitive elements. Specifically, the self-shielding coil, through its unique magnetic field distribution characteristics, can provide a stable magnetic field environment within the working area of the sensitive element, while suppressing the interference of the external magnetic field on the sensitive element. This design can not only significantly reduce the cross-interference between the dual sensitive elements, but also improve the gyroscope's ability to detect weak magnetic field signals, thereby further improving the overall performance of the prototype.

[0026] Two alkali metal gas cells with different polarization directions are used to measure angular velocity in two directions, respectively, to achieve three-axis inertial information measurement. The pumping and detection optical paths are both split in two by a beam splitter prism to ensure consistency. The pumping and detection optical paths of each sensor are placed orthogonally, and the pumping and detection optical paths between two sensors are also placed orthogonally.

[0027] refer to Figure 1A dual-sensor decoupling method for three-axis inertial measurement systems includes a passive magnetic shielding system (1), a self-shielding coil active magnetic compensation system (2), an atomic gas chamber and supporting system (3), an optical pumping system (4): a pumping laser (4-1), a λ / 2 wave plate (4-2), a PBS prism (4-3), a λ / 4 wave plate (4-4), a beam splitter (4-5), and an optical detection system (5): a detection laser (5-1), a λ / 2 wave plate (5-2), a PBS prism (5-3), a beam splitter (5-4), a λ / 2 wave plate (5-5), a PBS prism (5-6), and a photodetector differential structure (5-7). The method places two alkali metal gas chambers within two ovens and a self-shielding coil system, using the same outer magnetic shielding system. The pumping optical path uses a single system, which is split into two similar beams by a beam splitter (prism) to pump the two sensors. The detection optical path is similar to the pumping path, but after entering the alkali metal gas chamber, separate post-receiving sections are used to ensure consistent measurements. The pumping light and the detection light need to be orthogonal to each other, and between the two sensitive elements, the pumping light and the detection light are orthogonal to each other.

[0028] A dual-sensor decoupling method for three-axis inertial measurement is proposed. Considering that in a dual-sensor prototype, the magnetic field decoupling between the two sensors cannot be achieved, and the compensating magnetic fields interfere with each other, making it impossible to maintain the prototype in the SERF state, which is not conducive to improving the accuracy of inertial measurement. This solution achieves magnetic field decoupling between the two sensors through magnetic compensation coils. The active magnetic compensation coils use self-shielding coils, which generate a uniform magnetic field inside the coils and rapidly decay the magnetic field outside the coils, thereby ensuring that the compensating magnetic fields between the two sensors do not interfere with each other.

[0029] In the decoupling method designed in this invention, two sensitive elements share a magnetic shielding system, which facilitates their size reduction. The two sensitive elements each utilize two identical magnetic compensation systems, namely self-compensating coils, to compensate for the magnetic field. In the axial direction, coplanar cylindrical self-shielding coils are used, with Taylor expansion internally to ensure uniformity and zero magnetic multipole moment externally to ensure attenuation. In the radial direction, double-layer saddle coils optimized for target field points are used to achieve rapid attenuation.

[0030] The present invention uses two sensors for angular velocity measurement, each sensitive to rotational information in two directions. When used in combination, three-axis angular velocity information can be obtained. The pumping beams from the two sensors are placed orthogonally, meaning the polarization directions of the alkali metals within the chamber are orthogonal. This allows for high-precision measurement of angular velocity information in three directions within the space, with the detection beams also incident orthogonally.

[0031] The overall structure of the present invention mainly includes five parts: a gas chamber assembly, an optical assembly, a magnetic shielding assembly, an integrated electronic control system, and a main structure. The gas chamber assembly includes an atomic source, namely an alkali metal gas chamber, and a platinum resistance heating part. The alkali metal gas chamber is the sensitive core component of the gyroscope and is generally spherical or cubic in shape. It is filled with alkali metal atoms, inert gas nuclei, and a quenching gas (N2). The optical assembly includes an optical pumping system and an optical detection system. The optical pumping system uses a beam of circularly polarized light with the same frequency as the alkali metal D1 line in the gas chamber to polarize the alkali metal atoms. The polarized alkali metal atoms then collide with the inert gas nuclei in the gas chamber through spin exchange. The polarized inert gas nuclei have the ability to sense angular velocity changes at the magnetic compensation point. The optical detection system is used to generate a beam of linearly polarized light perpendicular to the direction of the detection light to detect the change in the optical rotation angle, that is, the transverse alkali metal electron polarization rate. The output signal corresponds to the change in the optical rotation angle and further corresponds to the change in angular velocity. The angular velocity measurement is achieved through preliminary calibration. The magnetic shielding components are mostly on the outer layer of the system structure, including a passive magnetic shielding module, namely the shielding layer, and an active magnetic compensation, namely the coil. The passive magnetic shielding includes a multi-layer magnetic shielding barrel to shield the interference of the earth's magnetic field, reduce the residual magnetism, and create a low magnetic field environment for the internal components. The active magnetic compensation coil is composed of three axes. By applying different current sizes, the size of the magnetic field can be controlled, and a uniform magnetic field is generated in the center area of the coil to achieve precise compensation of the residual magnetism in the shielding barrel. The integrated electronic control system includes a light source, a temperature control system, and a signal acquisition and processing system. The main structure includes the overall support structure of the prototype, the optical structure support, and the magnetic shielding support structure.

[0032] A dual-sensitive element decoupling method for three-axis integrated measurement. Since the three-axis inertial signal measurement achieved using two prototype structures has a complex system structure and poor consistency, the three-axis integrated measurement is achieved by placing the two sensitive elements and the supporting system in the same magnetic shielding environment to solve the problems of large volume and complex system of the three-axis gyroscope. Subsequently, since the compensation magnetic fields of the two sensitive elements interfere with each other, if they are not processed, the magnetic field coupling of the dual sensitive elements will prevent the atomic ensemble from entering the SERF state. Therefore, the present invention proposes to use self-shielding coils to achieve magnetic field decoupling. The weak magnetic environment and the magnetic field of the dual sensitive elements are decoupled by an external unified magnetic shielding system and internal respective magnetic compensation systems. The SERF effect is achieved by filling the two internal inertial measurement sensitive cores, i.e., alkali metal gas chambers, with alkali metal atoms, inert gas nuclei, quenching gas and buffer gas, and then using a non-magnetic electric heating system to make the atoms in the gas chamber in a high-density state. Subsequently, a beam of circularly polarized light with the same frequency as the transition frequency of the alkali metal atoms is used to pump the alkali metal atoms, and then the hyperpolarization of the inert gas is achieved through the self-selected exchange collision between the alkali metal atoms and the inert gas nuclei, so that the atomic spin directions tend to be consistent. The method of using a beam of linearly polarized light to modulate the magnetic field can realize the dual-axis inertial signal measurement of a beam of detection light. Assuming that the direction of the pumping light is the Z axis and the direction of the detection light is the Y axis, the detection of the inertial signals of the X axis and the Y axis can be achieved by this method. Therefore, the dual-sensitive element decoupling method of three-axis integrated measurement proposed by the present invention can accurately measure the rotation signal on the basis of realizing the decoupling of the dual-sensitive elements, and further be applied to the SERF inertial navigation system.

[0033] The three-axis gyroscope designed in the present invention includes two alkali metal gas chambers, namely the sensitive core structure, which is made of high borosilicate material and can provide stable and reliable atomic vapor to facilitate the subsequent generation of SERF effect, thereby achieving long-term stable and high-precision inertial measurement.

[0034] The three-axis gyroscope detection light system designed in this invention is implemented by splitting a linearly polarized beam into two. After emitting from a detection light laser, the detection beam passes through a λ / 2 wave plate and a PBS prism to convert it into linearly polarized light. It then passes through a beamsplitter prism to convert the reflected and transmitted light beams into two identically polarized beams, which are then incident on two air chambers. When the carrier changes, birefringence causes the polarization rate of the detection light to change as it passes through the air chambers, shifting the plane of polarization of the linearly polarized light and causing a change in the optical rotation angle, thereby reflecting rotation information.

[0035] The pumping system consists of a λ / 2 wave plate, a PBS prism, a λ / 4 wave plate, and a beam splitter. After the pump laser, which has the same frequency and power as the atomic transitions, is stabilized, it first passes through the λ / 2 wave plate and PBS prism to convert the laser into linearly polarized light. The λ / 4 wave plate is then adjusted to a 45° angle between the wave plate's optical axis and the laser, resulting in circularly polarized light. This polarizes the atoms in the gas cell, giving them a uniform direction. Finally, a beam splitter is used to generate two essentially identical, orthogonal, circularly polarized beams.

[0036] The non-magnetic electric heating system utilizes a double-stranded, twin-wound resistance wire heating film, which is affixed to the oven's surface and used in conjunction with the temperature control circuitry. The heating film utilizes a double-layer, double-strand, double-sheet structure, which cancels out magnetic fields, maintaining a low magnetic field within the system while ensuring sufficient atomic vaporization.

[0037] The detection system consists of a λ / 2 wave plate, a PBS prism, a beam splitter, a Wollaston, and a photoelectric detection differential section. The carrier's rotational information is converted by inert gas nuclei into changes in the magnetic field, which are then sensed by the alkali metal atoms, generating Larmor precession and, consequently, a change in the polarizability of the atoms in the alkali metal chamber. Therefore, when a beam of linearly polarized light passes through the alkali metal chamber, it produces a birefringence effect, causing its plane of polarization to change. This change in polarization plane is detected to measure angular velocity. A detection laser beam is converted to linearly polarized light by the λ / 2 wave plate and split in two by a beam splitter. The beam is then incident on sensor element 1 in the x-direction and sensor element 2 in the z-direction. Each beam then passes through a λ / 2 wave plate (analyzer) whose optical axis is at 90° to the optical axis of the preceding λ / 2 wave plate. It is then split in two by a Wollaston prism and incident on two corresponding PD boards for differential processing, eliminating the effects of uniform optical path oscillation.

[0038] Any content not described in detail in this specification is prior art known to those skilled in the art. It should be noted that the above description is intended to help those skilled in the art understand the present invention, but does not limit the scope of protection of the present invention. Any equivalent substitution, modification, improvement, and / or simplification of the above description that does not depart from the essence of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A dual-sensor decoupling method for three-axis integrated measurement, characterized in that: The following steps are involved: Step 1: Arrange a first sensitive element in the lower right portion of the passive magnetic shielding system cavity, and arrange a second sensitive element in the upper left portion; the first sensitive element has a first self-shielding coil active magnetic compensation system, and the second sensitive element has a second self-shielding coil active magnetic compensation system; set a first beam splitter prism in the lower left portion of the passive magnetic shielding system cavity, and set a second beam splitter prism in the upper right portion; the transmission side of the first beam splitter prism transmits the pumping light through the first sensitive element along the z-axis, and the reflection side of the first beam splitter prism transmits the pumping light through the second sensitive element along the x-axis; the transmission side of the second beam splitter prism transmits the detection light through the second sensitive element along the x-axis, and the reflection side of the second beam splitter prism transmits the detection light through the first sensitive element along the z-axis; Step 2: The self-shielding coil active magnetic compensation system uses a cylindrical coil in the longitudinal direction and a saddle coil in the radial direction, so that the system can generate a highly uniform and stable magnetic field in the working area, while ensuring that the magnetic field strength outside the coil decays exponentially, thereby effectively isolating the magnetic field coupling between the two sensitive elements; Step 3: Using a magnetic field modulation method, measure the x-axis angular velocity information and the first y-axis angular velocity information from the first sensitive element, and measure the second y-axis angular velocity information and the z-axis angular velocity information from the second sensitive element.

2. The dual-sensor decoupling method for three-axis integrated measurement according to claim 1 is characterized in that: In step 1, the input side of the first beam splitter prism is connected to the optical pumping system, the input side of the second beam splitter prism is connected to the detection light emitting device in the optical detection system, and the detection light output side of the first sensitive element and the detection light output side of the second sensitive element are both connected to the detection light receiving devices in their respective optical detection systems.

3. The dual-sensor decoupling method for three-axis integrated measurement according to claim 2, characterized in that: The optical pumping system includes a pumping laser, a first λ / 2 wave plate, a first PBS prism and a λ / 4 wave plate connected in sequence, and the λ / 4 wave plate is connected to the input side of the first beam splitter prism.

4. The dual-sensor decoupling method for three-axis integrated measurement according to claim 2, characterized in that: The detection light emitting device includes a detection light laser, a second λ / 2 wave plate, and a second PBS prism connected in sequence, and the second PBS prism is connected to the input side of the second beam splitter prism.

5. The dual-sensor decoupling method for three-axis integrated measurement according to claim 2, characterized in that: The detection light receiving device includes a third λ / 2 wave plate connected to the detection light output side of the sensitive element, the third λ / 2 wave plate is connected to the input side of the third PBS prism, and the reflection side and transmission side of the third PBS prism are respectively connected to the photodetector differential structure.

6. The dual-sensor decoupling method for three-axis integrated measurement according to claim 1, characterized in that: The saddle coil in step 2 is a double-layer saddle coil.

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