Dynamic quantization axis control method and device for multi-axis inertial measurement

Abstract

The invention discloses a dynamic quantization axis control device for multi-axis inertial measurement, which comprises an interference cavity, two ends of the interference cavity are respectively provided with an atom source, and two orthogonal laser groups and three pairs of mutually orthogonal Helmholtz coils are arranged outside the interference cavity. The invention further discloses a dynamic quantization axis control method for multi-axis inertial measurement, according to a preset axial distribution time sequence, the atom source continuously emits cold atomic groups to the interference cavity, the magnetic field generated by the Helmholtz coil and start and stop of the laser group are periodically switched, and therefore quasi-synchronous measurement of the double-axis inertial quantity is achieved. The method can be quickly expanded into full-vector inertial measurement. By introducing rapid adiabatic shortcut magnetic field pulse rotation and utilizing three-axis orthogonal magnetic field waveform control and anti-adiabatic compensation field design, it is ensured that atomic spin adiabatically follows a quantization axis while magnetic field direction switching is completed at a sub-millisecond level, non-adiabatic transition and Zeeman phase shift accumulation are effectively inhibited, and interference contrast and phase stability are ensured.

Description

Technical Field

[0001] This invention relates to the fields of quantum precision measurement and inertial sensing, and particularly to a dynamic quantized axis control method for multi-axis inertial measurement, as well as a dynamic quantized axis control device for multi-axis inertial measurement, enabling quantized axis control, rapid magnetic field switching, and pulsed dynamic quantized axis modulation in atomic interferometers. This invention is applicable to fields such as high-precision inertial navigation, geophysical exploration, gravitational field change monitoring, earthquake early warning, and high-sensitivity quantum metrology. Background Technology

[0002] Atomic interferometers utilize the material wave properties of atoms and the coherent manipulation of atoms by lasers to achieve ultra-high precision measurements of physical quantities such as inertial forces (e.g., acceleration and rotation) and gravitational fields. Based on advancements in laser cooling and atomic manipulation technologies, the measurement accuracy and long-term stability of atomic interferometers are expected to surpass those of traditional electromechanical sensors, demonstrating broad application prospects in fields such as fundamental physics research, inertial navigation, resource exploration, and geophysical detection.

[0003] However, most existing atomic interferometers can only achieve single-path (single-axis) interferometric measurements. To obtain complete vector information (such as triaxial acceleration and triaxial rotation), it is usually necessary to orthogonally assemble three independent single-axis atomic interferometers in space. This approach results in a large system size, complex structure, high cost, and inter-axis misalignment errors. Another approach is to use time multiplexing technology, allowing the same set of atomic interferometers to perform measurements in different directions at different time points. While this approach reduces the system size and complexity to some extent, it cannot achieve true synchronous measurement due to the difference in measurement time points. In dynamic application scenarios, this asynchronous measurement can introduce serious errors due to rapid changes in the motion state of the carrier, limiting its application on high-speed motion platforms such as aviation and aerospace. The core technical challenge in constructing multi-axis interferometers lies in the fact that when providing the required quantized axes (defined by bias magnetic fields) for atomic interferometers in different directions, the magnetic field in one direction can severely interfere with the atomic interference process in other directions, destroying its coherence. To circumvent interference from quantization axes, some studies have proposed methods such as using special transitions (e.g., the four-photon Raman scheme), complex polarization structures, or switching magnetic field directions. However, these techniques typically suffer from drawbacks such as operational complexity, poor robustness, extreme sensitivity to background magnetic noise, and low efficiency. For example, while CN113088649A proposes a direction-switching scheme, it does not provide the pulse waveform design for the magnetic field switching process, nor does it address the coherence loss problem caused by non-adiabatic transitions, making it difficult to operate stably in high-bandwidth, highly dynamic environments. Therefore, current technologies cannot fundamentally solve the key challenge of rapidly switching quantization axes without compromising coherence.

[0004] To address the aforementioned technical bottlenecks, this invention proposes a novel technical approach: by constructing a pulsed dynamic quantized axis control method based on adiabatic shortcuts, particularly anti-adiabatic compensation fields, the direction of the bias magnetic field can be rotated within microseconds or even less, while strictly suppressing non-adiabatic transitions. This maintains a high degree of overlap between atomic states and instantaneous eigenstates, achieving truly rapid adiabatic quantized axis switching. Based on this technology, this invention further constructs a single-cavity dual-axis atomic interferometer, enabling inertial measurements in two directions to be executed sequentially and rapidly on the same cavity and the same atomic sample. Quasi-synchronous measurements are achieved through rotating pulses, fundamentally solving the problems of large size, strong interference, low bandwidth, and asynchronous measurements inherent in traditional methods. This provides an engineerable core unit for a full-vector atomic inertial measurement system. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a dynamic quantized axis control device and method for multi-axis inertial measurement. By combining pulsed magnetic fields and pulsed optical fields as control units, pulses (magnetic fields and optical fields) in different directions can be arbitrarily combined to construct intersecting interference loops, achieving quasi-synchronous multi-degree-of-freedom inertial measurement. In particular, this invention introduces a rapid adiabatic shortcut magnetic field pulse rotation technology, which significantly reduces the switching time of the magnetic field pulses, breaking through the limitations of existing adiabatic conditions and providing technical support for realizing multi-axis inertial measurement in a single sensor probe.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A dynamic quantized axis control device for multi-axis inertial measurement, comprising a control unit, with the length direction of the interferometric cavity in the control unit as... The axis direction and the height direction of the interference cavity are as follows: The axial direction and the thickness direction of the interference cavity are as follows: Axial direction; along Along the axial direction, a first atomic source and a second atomic source are respectively set at both ends of the interference cavity; External setting of interference cavity Axis laser group, The axial laser assembly and three pairs of mutually orthogonal Helmholtz coils: Each laser group includes three pairs of edges Laser pairs are arranged sequentially along the axis, and the two opposing Raman beams from each laser pair are emitted into the interference cavity. The Raman beam of the axial laser group is parallel to axis, The Raman beam of the axial laser group is parallel to axis; The direction of the magnetic field generated by each pair of Helmholtz coils is parallel to the direction of a corresponding coordinate axis. The rotation control module has a preset axial allocation timing sequence, which includes sensitive axes arranged in chronological order. , Adjacent sensitive axes different; Based on the axial distribution timing, the first and second atomic sources, the Helmholtz coil, and each laser group change periodically according to the following rules: Corresponding to each sensitive axis Both the first and second atomic sources emit an atomic group. ; and in atomic groups The total magnetic field generated by all Helmholtz coils at the moment of entering the interference region of the interference cavity. The direction of the light, and the direction of the Raman light in the activated laser array, are both related to the sensitive axis. The directions are consistent; axial magnetic field and The magnitude of the resultant magnetic field in the axial direction remains unchanged, and the rotational frequency of the resultant magnetic field is less than the Larmor precession frequency.

[0007] For three pairs of mutually orthogonal Helmholtz coils as described above, the magnitudes of the magnetic fields generated in the three coordinate axes must satisfy the following requirements: , in, for axial magnetic field for axial magnetic field for Magnetic field along the axis; It is an ultra-fine Landé g-factor. It is the Bohr magneton. The amplitude of the combined magnetic field, It is Planck's constant; This indicates the current moment in the rotation process of the magnetic field, with the corresponding starting time point being the beginning of the magnetic field rotation process. ; Indicates the duration of magnetic field switching, one sensitive axis This corresponds to a magnetic field rotation process; The direction of the resultant magnetic field and The angle along the axial direction, i.e. axial magnetic field and axial magnetic field The direction of the resultant magnetic field and The angle between the axes is denoted as angle. ; When the sensitive axis for axis: , Corresponding intermediate quantity satisfy: ; When the sensitive axis for axis: , Corresponding intermediate quantity satisfy: .

[0008] For each of the sensitive axes described above : The duration of the laser pulse for Raman light in the laser pair near the first and second atomic sources is The duration of the Raman laser pulse of the laser pair located in the middle is .

[0009] As mentioned above, there are two control units, and the length directions of the interference cavities of the two control units are perpendicular to each other. A magnetic shielding device is set between the two control units. Define reference coordinate system The local coordinate system of the first control unit With reference coordinate system The mapping relationship is as follows: , , ; Local coordinate system of the control unit With reference coordinate system The mapping relationship is as follows: , , ; Indicates parallelism.

[0010] A dynamic quantized axis control method for multi-axis inertial measurement, utilizing the dynamic quantized axis control device for multi-axis inertial measurement as described above, is characterized by comprising the following steps: Step 1: Preset the axial allocation timing sequence, which includes sensitive axes arranged in chronological order. , Adjacent sensitive axes different; Step 2: According to the preset axial distribution timing, the first atomic source, the second atomic source, the Helmholtz coil, and each laser group undergo periodic changes, thereby enabling each atomic cluster to complete the beam splitting, emission, and beam combining interference process; Step 3: For each sensitive axis The corresponding atomic groups After performing the complete interference process, the atomic cluster was detected. The population distribution is obtained, the corresponding interference phase shift is obtained, and the corresponding rotational speed and acceleration are calculated.

[0011] The calculation of the rotational speed and acceleration as described above specifically includes the following steps: When the sensitive axis for When the shaft is in motion: , , When the sensitive axis for When the shaft is in motion: , , in, yes The rotational speed of the shaft, yes The rotational speed of the shaft, yes The acceleration of the axis, yes The acceleration of the axis, yes Raman wave vector of the axis, yes Raman wave vector of the axis, It is the atomic ejection velocity. It is the time of interferometry; For the corresponding time sequence number Interference phase shift of atomic groups emitted by the first atomic source; For the corresponding time sequence number Interference phase shift of atomic groups emitted by the second atomic source.

[0012] A dynamic quantized axis control method for multi-axis inertial measurement, utilizing the dynamic quantized axis control device for multi-axis inertial measurement as described above, is characterized by comprising the following steps: Step 1: Preset the first axis allocation timing and the second axis allocation timing; the first axis allocation timing includes sensitive axes arranged in chronological order. , Adjacent sensitive axes Different; the second axial allocation timing includes sensitive axes arranged sequentially in chronological order. , Adjacent sensitive axes different; Sensitive axis of the first axial allocation timing Sensitive axis of second axial allocation timing Time synchronization; Step 2: According to the preset first axial distribution timing, the first atomic source, the second atomic source, the Helmholtz coil, and each laser group of the first control unit undergo periodic changes; Simultaneously, according to the preset second axial distribution timing, the first atomic source, the second atomic source, the Helmholtz coil, and each laser group of the second control unit undergo periodic changes; Step 3: For the first control unit, corresponding to each sensitive axis After the corresponding cold atom clusters undergo a complete interference process, the population distribution of the cold atom clusters is detected to obtain the corresponding interference phase shift, and the corresponding rotational speed and acceleration are calculated. Meanwhile, for the second control unit, corresponding to each sensitive axis After the corresponding cold atom clusters undergo a complete interference process, the population distribution of the cold atom clusters is detected to obtain the corresponding interference phase shift, and the corresponding rotational speed and acceleration are calculated. Based on sensitive axis The corresponding rotational rate and acceleration, sensitive axis The corresponding rotational rate and acceleration yield the corresponding total inertial vector, where The time series number corresponding to the atomic group is denoted as the time series number. .

[0013] The total inertial vector, as described above, is obtained through the following steps: When the sensitive axis corresponding to the first control unit for When the shaft is in motion: , , Meanwhile, the sensitive axis corresponding to the second control unit for axis: , , in, It is along the first control unit The rotational speed of the shaft, It is along the first control unit The acceleration of the axis, It is along the first control unit Raman wave vector of the axis, It is the atomic ejection velocity. It is the time of interferometry; It is along the second control unit The rotational speed of the shaft, It is along the second control unit The acceleration of the axis, It is along the second control unit Raman wave vector of the axis, For the corresponding time sequence number The interference phase shift of cold atomic groups emitted by the first atomic source of the first control unit; For the corresponding time sequence number The interference phase shift of cold atomic groups emitted by the second atomic source of the first control unit; For the corresponding time sequence number The interference phase shift of cold atomic groups emitted by the first atomic source of the second control unit; For the corresponding time sequence number The interference phase shift of cold atomic groups emitted by the second atomic source of the second control unit; When the sensitive axis corresponding to the first control unit for Axis, correspondingly: , , Meanwhile, the sensitive axis corresponding to the second control unit for Axis, correspondingly: , , in, It is along the first control unit The rotational speed of the shaft, It is along the first control unit The acceleration of the axis, It is along the first control unit Raman wave vector of the axis; It is along the second control unit The rotational speed of the shaft, It is along the second control unit The acceleration of the axis, It is along the second control unit Raman wave vector of the axis; In the reference coordinate system Below, the total acceleration vector in the total inertial vector. and full rotation vector The calculation formula is as follows: , , , , , , in, In the reference coordinate system The rotational speed of the shaft, In the reference coordinate system The rotational speed of the shaft, In the reference coordinate system The rotational speed of the shaft; In the reference coordinate system The acceleration of the axis, In the reference coordinate system The acceleration of the axis, In the reference coordinate system The acceleration of the shaft.

[0014] Compared with the prior art, the present invention has the following advantages: This invention relates to a core control unit for a dual-axis atomic interferometer based on adiabatic shortcuts and pulsed quantum axis dynamic control, and its beneficial effects include: 1. This invention introduces a pulsed dynamic quantized axis control method based on the principle of rapid adiabatic and anti-adiabatic compensation, enabling rapid and smooth direction switching of the quantized axis within tens of microseconds. This completely avoids the non-adiabatic transitions that inevitably occur in traditional adiabatic switching, thus ensuring that atoms remain in their instantaneous eigenstates. Compared to existing adiabatic rotation processes that require several milliseconds, this invention achieves a significant speed improvement. Thanks to the introduction of the compensation field, the atomic state retention rate during switching can reach over 99%, greatly improving interference contrast and coherence lifetime.

[0015] 2. This invention enables rapid switching of multi-directional bias magnetic fields within a single vacuum cavity, allowing for inertial-sensitive interferometry measurements in multiple directions within the same batch of atoms and the same spatial region, thus constructing a true single-cavity dual-axis or even multi-axis atomic interferometer. Compared to traditional solutions requiring multiple independent cavities or multiple coil systems, this invention significantly reduces system size, weight, and assembly complexity, while avoiding mechanical misalignment errors, temperature drift coupling, and noise accumulation issues between multiple cavities. This solution achieves quasi-synchronous dual-axis measurements, effectively resolving state inconsistencies and time mismatch errors inherent in time-multiplexing schemes under high-speed dynamic environments, ensuring the stability and reliability of the inertial vector output.

[0016] 3. The anti-adiabatic compensation waveform proposed in this invention has good engineering adaptability, including three modes: free compensation, constant amplitude compensation, and adaptive compensation. It can be matched according to factors such as coil bandwidth, magnetic field strength, noise level, and hardware stability, thus balancing speed, coherence, and system robustness. This method does not require complex multiphoton transitions, special polarization structures, or high-power lasers; it can be implemented solely using orthogonal coils and a programmable waveform controller. Overall, this invention has a simple technical path, strong robustness, high repeatability, and is easily extended to compact full-vector quantum inertial measurement units, possessing excellent engineering and industrialization potential. Attached Figure Description

[0017] Figure 1 The magnetic field of the control unit of this invention is parallel to Switch the axis direction to parallel A schematic diagram showing the change in the magnitude of the magnetic field generated by each pair of Helmholtz coils over time during the axial direction process.

[0018] Figure 2 This is a schematic diagram of the control unit of the present invention.

[0019] Figure 3 This is a schematic diagram of the measurement of the inertial vector by a single control unit of the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of the full vector inertial measurement system of the present invention.

[0021] Wherein, 101—first atomic source, 102—second atomic source, 103—interference cavity; 201 - First Helmholtz coil; 202 - Second Helmholtz coil; 203 - Third Helmholtz coil; 204 - Fourth Helmholtz coil; 205 - Fifth Helmholtz coil; 206 - Sixth Helmholtz coil. arrive These are all atomic groups ejected sequentially, denoted as atomic groups. ; express axial magnetic field express axial magnetic field express Magnetic field along the axis; D1, D2, and D3 represent In the axial laser group, Raman light, D4, D5, and D6 represent... Raman light in the axial laser group. Detailed Implementation

[0022] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to embodiments. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0023] Example 1: A dynamic quantum axis control device for multi-axis inertial measurement includes a control unit, which includes an interferometric cavity 103. An atomic source module, a coil module, and a biaxial interferometric laser module are disposed outside the interferometric cavity 103. 1. Atom Source Module: like Figure 3 As shown, it includes a first atomic source 101 and a second atomic source 102, with the length direction of the interference cavity 103 in the control unit as... The axial direction, the height direction of the interference cavity 103 is The thickness direction of the interference cavity 103 is along the axial direction. Axial direction; along In the axial direction, the first atomic source 101 and the second atomic source 102 are located at the two ends of the interference cavity 103, respectively, to continuously generate cold atomic clusters and emit a sequence of cold atomic clusters that are closely connected in time into the interference cavity 103, and the direction of the cold atomic clusters emitted by the first atomic source 101 is opposite to the direction of the cold atomic clusters emitted by the second atomic source 102.

[0024] Each cold atom cluster is prepared using laser cooling and confinement methods, and then ejected into the interference region of the interference cavity 103 via a thrust beam or magnetic field gradient at a determined initial velocity. The first atomic source 101 and the second atomic source 102 in the atomic source module typically employ a working mode of continuous loading in a two-dimensional magneto-optical trap and rapid cyclic cooling and ejection in a three-dimensional magneto-optical trap, ensuring that the preparation and loading time of the atom cluster is less than the interferometric measurement time of a single cold atom cluster. This fundamentally eliminates the measurement "dead time." In this embodiment, the first atomic source 101 and the second atomic source 102 continuously capture atoms from the atomic gas chamber using a two-dimensional magneto-optical trap and inject them into a rapidly circulating three-dimensional magneto-optical trap. The three-dimensional magneto-optical trap completes a cooling and ejection cycle every 20 ms (typical value), continuously ejecting cold atomic clusters into the interference cavity 103 at a frequency of 50 Hz (typical value).

[0025] 2. Dual-axis interference laser module: Including two laser groups located outside the interference cavity 103 (i.e. Axis laser group, (Axial laser array), each laser array includes three pairs of... The laser pairs are arranged sequentially along the axis. In each pair, the two opposing Raman laser beams are emitted into the interference cavity 103. The Raman beam of the axial laser group is parallel to Axis transmission, The Raman beam of the axial laser group is parallel to Axis transmission.

[0026] The axial laser array employs a through-beam configuration to realize a Mach-Zehnder interferometer. The axial laser array employs a through-beam configuration to realize a Mach-Zehnder interferometer. The interference regions of the two optical paths within the vacuum cavity can spatially overlap.

[0027] 3. Coil Module: It includes three pairs of mutually orthogonal Helmholtz coils. The direction of the magnetic field generated by each pair of Helmholtz coils is parallel to the direction of a corresponding coordinate axis. One pair of Helmholtz coils generates... axial magnetic field A pair of Helmholtz coils generate axial magnetic field A pair of Helmholtz coils generate axial magnetic field ;like Figure 2 As shown, the third Helmholtz coil 203 and the fourth Helmholtz coil 204 generate axial magnetic field The first Helmholtz coil 201 and the second Helmholtz coil 202 are used to generate axial magnetic field The fifth Helmholtz coil 205 and the sixth Helmholtz coil 206 are used to generate axial magnetic field Define the resultant magnetic field. for axial magnetic field and The resultant magnetic field of the axial magnetic field is denoted as the total magnetic field. (Right now axial magnetic field , axial magnetic field and axial magnetic field The resultant magnetic field is the total magnetic field. ).

[0028] 4. Rotation control module: The aforementioned atomic source module, dual-axis interference laser module, and coil module operate according to the preset axial allocation timing sequence in the rotation control module: according to the axial allocation timing sequence, the first atomic source 101 and the second atomic source 102 continuously emit cold atomic clusters into the interference cavity 103, and the current of the Helmholtz coil is periodically adjusted to make the resultant magnetic field... The direction of rotation is periodically changed, and the start and stop states of each laser group are periodically switched, thereby enabling each atomic group to undergo a complete beam splitting, emission, and beam combining interference process.

[0029] The axial allocation timing includes sensitive axes arranged sequentially in chronological order. , Adjacent sensitive axes Different; that is, the sensitive axis in the axial allocation timing. Alternate shaft or axis.

[0030] Corresponding to each sensitive axis Both the first atomic source 101 and the second atomic source 102 emit a cold atomic cluster (denoted as the atomic cluster). ); and in atomic groups At the moment of entering the interference region in the interference cavity 103, the total magnetic field generated by all the Helmholtz coils The direction of the light, and the direction of the Raman light in the activated laser array, are both related to the sensitive axis. The directions are consistent; The duration of the laser pulse for Raman light in laser alignment near the first atomic source 101 and the second atomic source 102 is: The duration of the Raman laser pulse of the laser pair located in the middle is .

[0031] For example: when the sensitive axis for Axis, in atomic group The moment of entering the interference region in the interference cavity 103, The axis laser group is turned on. When the axial laser group is turned off, the total magnetic field generated by all Helmholtz coils is... The direction is parallel to axis; when sensitive axis for Axis, in atomic group The moment of entering the interference region in the interference cavity 103, The axis laser group is turned on. The axis laser group is turned off, and the direction of the resultant magnetic field of the magnetic fields in all coordinate axis directions (i.e., the total magnetic field) is... (direction) parallel to The switching on and off of the Raman lasers in each laser group, in conjunction with the magnetic field changes generated by the Helmholtz coils in the coil module, is used to achieve beam splitting, reversal, and combining of atoms, completing a full Mach-Zehnder interference sequence. The optical paths of each beam can partially overlap in physical space to save space, but through precise timing control, they are staggered in time to avoid simultaneously acting on the same atomic clusters. This ensures the independence of measurements on each axis.

[0032] When the sensitive axis for When the axis is axial, Axial laser group and parallel to Total magnetic field of the axis Build Atomic interference loop along the axis; when sensitive axis for When the axis is axial, Axial laser group and parallel to Total magnetic field of the axis Build Atomic interference loops along the axial direction; the two atomic interference loops are orthogonal in direction.

[0033] Combined magnetic field (Right now axial magnetic field and axial magnetic field The direction of the combined magnetic field is parallel to Rotate the axis to be parallel to The axis (for one magnetic field rotation process), then from parallel to The axis rotates to The axis (the second magnetic field rotation process, or from) The axis rotates to The axis then from The axis rotates to Two magnetic field rotation processes (axis) constitute one magnetic field rotation cycle, meaning one magnetic field rotation cycle includes two magnetic field rotation processes in opposite directions. For a single atomic group... A complete test requires three magnetic field rotation cycles.

[0034] To ensure that atomic spins adiabatically follow the quantization axis, i.e., the sensitive axis To effectively suppress the accumulation of non-adiabatic transitions and Zeeman phase shifts, and to ensure interference contrast and phase stability, it is necessary to... axial magnetic field and Resultant magnetic field of axial magnetic field The magnitude of the magnetic field remains unchanged, and the net magnetic field The rotational frequency is less than the Larmor precession frequency. This invention will... axial magnetic field As a compensating magnetic field to complete the adiabatic rotation of the accelerating magnetic field during the magnetic field switching process. Typically, when the Larmor precession frequency... ( It is an ultra-fine Landé g-factor. It is the Bohr magneton. It is the amplitude of the combined magnetic field. (Planck's constant) is greater than the rotational speed of the resultant magnetic field. ( It is the rotation angle of the resultant magnetic field during one rotation of the magnetic field. (This refers to the magnetic field switching time). However, in atomic interference, a shorter magnetic field switching time is better, which inevitably leads to the failure to meet the above adiabatic conditions, resulting in the destruction of atomic coherence. Therefore, an anti-adiabatic field is proposed, which can effectively maintain atomic coherence under non-adiabatic conditions.

[0035] In each rotation of the magnetic field, the magnitudes of the magnetic fields in the three orthogonal directions are periodically varied according to the following rules: , in, The direction of the resultant magnetic field and The angle along the axial direction, i.e. axial magnetic field and axial magnetic field The direction of the resultant magnetic field and The angle between the axes is denoted as angle. ; This indicates the current moment in the rotation process of the magnetic field, with the corresponding starting time point being the beginning of the current magnetic field rotation process. ; Indicates the duration of magnetic field switching, one sensitive axis This corresponds to a magnetic field rotation process. (1) When the sensitive axis for Axis, corresponding to the resultant magnetic field Direction from The axis rotates to axis: , , , The direction of the resultant magnetic field and The change of the included angle of the axis over time The following requirements must be met: , Corresponding intermediate quantity satisfy: , (2) When the sensitive axis for Axis, Resultant Magnetic Field Direction from The axis rotates to axis: , , , Among them, the combined magnetic field and The change of the included angle of the axis over time The following requirements must be met: , intermediate quantity satisfy: , Based on the above formula: Maintaining the net magnetic field Total rotation angle and total magnetic field Under the premise that the pulse shape remains unchanged, the rotation time The longer, axial magnetic field Peak amplitude according to Shrink; when When entering the adiabatic zone, the required anti-adiabatic compensation magnetic field is... Axial magnetic field components Approaching zero.

[0036] Driven by a high-precision current source, the magnetic fields of three orthogonal axes achieve the above waveform, such as... Figure 1 As shown. A rotation from 0° to 90° indicates that the magnetic field changes from... The shaft rotates to axis, A rotation from 90° to 0° indicates that the magnetic field changes from... The shaft rotates to Axis. A complete measurement process involves repeating the magnetic field rotation process six times along the time axis. Between two adjacent magnetic field rotation processes, the resultant magnetic field is measured. Parallel to The axis changes to be parallel to Axis, or from parallel to The axis becomes parallel again Axis. Here, Axial magnetic field components As the magnetic field changes over time and its direction changes, it acts as a compensating magnetic field, accelerating the adiabatic following process. This allows the rate of change of the magnetic field angle to ensure that the atom always follows the direction of the atom's spin, even when the adiabatic conditions are not met.

[0037] As a preferred embodiment of the present invention, the intensity of the pulsed magnetic field is controlled below 200 mG (milligauss), and the magnetic field switching time of the magnetic field direction is... The time is less than 1 ms to ensure that the atomic state energy adiabatically follows the quantization axis rotation, maximizing the preservation of interference contrast and phase stability.

[0038] Example 2: A dynamic quantized axis control method for multi-axis inertial measurement, utilizing the dynamic quantized axis control device for multi-axis inertial measurement described in Example 1, includes the following steps: Step 1: The rotary pulse module presets the axial allocation timing sequence, which includes the sensitive axes arranged in chronological order. , Define the first atomic group in the sequence. Atom group Corresponding sensitive axis , Adjacent sensitive axes in axial allocation timing different.

[0039] A typical allocation pattern is alternating allocation, such as: atomic groups , , Assigned to Axis measurement; atomic group , , Assigned to The shaft is measured.

[0040] Step 2: According to the preset axial allocation timing, perform the axial quantization interference process. The first atomic source 101, the second atomic source 102, the Helmholtz coil, and each laser group undergo periodic changes: the first atomic source 101 and the second atomic source 102 continuously emit atomic clusters into the interference cavity 103, and the current of the Helmholtz coil is periodically adjusted to make the total magnetic field... The direction rotates periodically, and the start and stop states of each laser group are switched periodically, thereby enabling each atomic cluster to undergo a complete beam splitting, emission, and beam combining interference process.

[0041] In step 2, both the first atomic source 101 and the second atomic source 102 continuously generate time-discrete sequences of cold atomic clusters at a predetermined repetition frequency and emit these sequences into the interference cavity 103. The interval between the emission of cold atomic clusters by the first atomic source 101 and the second atomic source 102 is equal to the time interval between adjacent sensitive axes in the axial allocation sequence. The interval time; the direction of the cold atom cluster emitted by the first atomic source 101 is opposite to the direction of the cold atom cluster emitted by the second atomic source 102.

[0042] Adjacent cold atom clusters in time sequence and the total magnetic field in the corresponding direction And the laser array works together to achieve different interference loops.

[0043] In this embodiment, the axial allocation timing is as follows: Three pairs of orthogonal Helmholtz coils are driven by a current source to generate a total magnetic field with periodically changing direction. ,like Figure 1 As shown, with the axial distribution of the total magnetic field... The direction is shaft and Switching between axes, total magnetic field The combined magnetic field The switching direction is determined by the angle. The decision, including the angle From 90° (i.e.) Turning to 0° indicates the resultant magnetic field. from The shaft rotates to Axis. The atomic group timing corresponding to the interference timing is: , Indicates the first atomic group in the sequence A cold atomic group is denoted as an atomic group. , The number of cold clusters in the cold cluster sequence is equal to the number of sensitive axes in the axial allocation time series. (Cluster) , ... … The total magnetic field in pulse form enters the interference region of the interference cavity 103 sequentially. Raman light in pulse form shaft and Switching back and forth between axes ensures the integrity of individual atomic clusters. When the laser reaches the corresponding position and shaft or Raman light and total magnetic field in a single direction along the axis Its function is to construct atomic interference loops and obtain quasi-continuous interferometric measurements. For example, atomic groups... Parallel to Total magnetic field of the axis And the effect of pulsed Raman light, Then parallel to Total magnetic field of the axis Interacting with pulsed Raman light, an interference loop is constructed along two axes; subsequent atomic clusters follow the same pattern. This applies to the corresponding atomic clusters emitted simultaneously by the first atomic source 101 and the second atomic source 102. Corresponding sensitive axis To complete a full interferometric measurement process, three Raman interactions with corresponding directions are required, followed by detection. Taking the most commonly used Mach-Zehnder interferometer as an example, the process begins from the emission of atomic clusters... The process to complete the interference sequence (i.e., complete three interactions with Raman light) includes the following steps: Based on the sensitive axis in the axial allocation timing The corresponding atomic groups emitted simultaneously by the first atomic source 101 and the second atomic source 102 ; When atomic groups When entering the interference region of the interference cavity 103, the total magnetic field Direction and sensitive axis The directions are consistent, and the magnetic field change formula in Example 1 is followed. axial magnetic field , axial magnetic field and axial magnetic field Perform corresponding size changes; atomic groups Interference interval time entering the interference cavity 103 Then, enable the sensitive axis. Laser groups aligned in direction, left and right atomic clusters They interact with the laser pairs at their respective positions (at this time, with the atomic groups) Raman light acting as atomic groups The split pulse (π / 2) on the atomic group The wave packets are coherently split into two spatial paths with momentum difference, and the corresponding Raman light duration is... . When atomic groups When entering the interference region of the interference cavity 103, the direction of the total magnetic field The direction has been switched to the sensitive axis The directions are consistent, and the magnetic field change formula in Example 1 is followed. axial magnetic field , axial magnetic field and axial magnetic field Perform corresponding size changes; atomic groups Interference interval time entering the interference cavity 103 Then, enable the sensitive axis. Laser groups aligned in direction, left and right atomic clusters The atomic cluster interacts with laser pairs at corresponding positions, thereby coherently splitting the wave packets and forming two spatial paths with momentum difference; at this time, the atomic cluster It did not interact with any Raman light and continued to move in the direction of emission.

[0044] In atomic clusters After entering the interference region of the interference cavity 103, the interferometric measurement time has elapsed. The direction of the total magnetic field Switching the direction back to the sensitive axis The directions are consistent, and the magnetic field change formula in Example 1 is followed. axial magnetic field , axial magnetic field and axial magnetic field The corresponding size changes are made; at the same time, the atomic group Entering the interference region of interference cavity 103; then at a time interval Then, enable the sensitive axis. Laser groups with consistent direction, atomic clusters , They interact with the laser pairs at their respective positions (at this time, with the atomic groups) Raman light at the intermediate position of the action as a group of atoms The reflected pulse (π) to the atomic group The wave packet exchanges the momentum states of the two paths, causing them to re-intersect, and the duration of the corresponding Raman light is... ; atomic group Raman light acting as atomic groups The split pulse (π / 2) on the atomic group The wave packets are coherently split into two spatial paths with momentum difference, and the corresponding Raman light duration is... At this time, the atomic group It did not interact with any Raman light and continued to move in the direction of emission.

[0045] In atomic clusters After entering the interference region of the interference cavity 103, the interferometric measurement time has elapsed. The direction of the total magnetic field Switching the direction back to the sensitive axis The directions are consistent, and the magnetic field change formula in Example 1 is followed. axial magnetic field , axial magnetic field and axial magnetic field The corresponding size changes are made; at the same time, the atomic group Entering the interference region of interference cavity 103; then at a time interval Then, enable the sensitive axis. Laser groups with consistent direction, atomic clusters , They interact with the laser pairs at their respective positions (at this time, with the atomic groups) Raman light acting as atomic groups The reflected pulse (π) to the atomic group The wave packet exchanges the momentum states of the two paths, causing them to re-intersect, and the duration of the corresponding Raman light is... At the same time, the left and right atomic groups The beams interact with lasers at their respective positions, resulting in coherent beam splitting of the wave packets and forming two spatial paths with momentum difference, corresponding to Raman beam durations of [duration value missing]. At this time, the atomic group , It did not interact with any Raman light and continued to move in the direction of emission.

[0046] In atomic clusters After entering the interference region of the interference cavity 103, it takes twice the interferometric measurement time. The direction of the total magnetic field Switching the direction back to the sensitive axis The directions are consistent, and the magnetic field change formula in Example 1 is followed. axial magnetic field , axial magnetic field and axial magnetic field The corresponding size changes are made; at the same time, the atomic group Entering the interference region of interference cavity 103; then at a time interval Then, enable the sensitive axis. Laser groups with consistent direction, atomic clusters , , They interact with the laser pairs at their respective positions (at this time, with the atomic groups) Raman light acting as atomic groups The combined pulse (π / 2) on the atomic group The two paths of the wave packet re-converge, forming the final interference, and the corresponding Raman light duration is... ; and atomic groups Raman light at the intermediate position of the action as a group of atoms The reflected pulse (π) to the atomic group The wave packet exchanges the momentum states of the two paths, causing them to re-intersect, and the duration of the corresponding Raman light is... ; and atomic groups Raman light acting as atomic groups The split pulse (π / 2) on the atomic group The wave packets are coherently split into two spatial paths with momentum difference, and the corresponding Raman light duration is... At this time, the atomic group , It did not interact with any Raman light and continued to move in the direction of emission. (Regarding atomic groups) Then proceed to step 3. For example... Figure 2 As shown, when , In the axial laser group, Raman beams D1, D2, and D3 are all turned off. In the axial laser array, Raman beams D4, D5, and D6 interact with their respective atomic groups. , , effect.

[0047] In atomic clusters After entering the interference region of the interference cavity 103, it takes twice the interferometric measurement time. The direction of the total magnetic field Switching the direction back to the sensitive axis The directions are consistent, and the magnetic field change formula in Example 1 is followed. axial magnetic field , axial magnetic field and axial magnetic field The corresponding size changes are made; at the same time, the atomic group Entering the interference region of interference cavity 103; then at a time interval Then, enable the sensitive axis. Laser groups with consistent direction, atomic clusters , , They interact with the laser pairs at their respective positions (at this time, with the atomic groups) Raman light acting as atomic groups The combined pulse (π / 2) on the atomic group The two paths of the wave packet re-converge, forming the final interference, and the corresponding Raman light duration is... ; and atomic groups Raman light at the intermediate position of the action as a group of atoms The reflected pulse (π) to the atomic group The wave packet swaps the momentum states of the two paths, causing them to re-intersect, and the corresponding Raman light duration is 2. ; and atomic groups Raman light acting as atomic groups The split pulse (π / 2) on the atomic group The wave packets are coherently split into two spatial paths with momentum difference, and the corresponding Raman light duration is... At this time, the atomic group , It did not interact with any Raman light and continued to move in the direction of emission. (Regarding atomic groups) Then proceed to step 3. The operations for other cold atomic groups follow the same logic.

[0048] By optimizing control, two adjacent sensitive axes The time interval between them (corresponding to the pulse and magnetic field direction) is determined by Axis switch Axis, or by Axis switch The ms (axis) can be reduced to less than 1ms, achieving true quasi-synchronous measurement.

[0049] Step 3: Independent detection and calculation of each single-axis interference signal.

[0050] For each sensitive axis The corresponding atomic groups After the complete interference process, i.e., after the beam combining pulse, atomic clusters are detected using the time-of-flight method or the spatial separation method. The population distribution is determined, and thus the corresponding interference phase shift is obtained. Based on the fundamental principle of the Mach-Zehnder interferometer, the phase shift along the corresponding sensitive axis is calculated. Information on rotational rate and acceleration.

[0051] When the sensitive axis for When the shaft is in motion: , , When the sensitive axis for When the shaft is in motion: , , in, yes The rotational speed of the shaft, yes The rotational speed of the shaft, yes The acceleration of the axis, yes The acceleration of the axis, yes Raman wave vector of the axis, yes Raman wave vector of the axis, It is the atomic ejection velocity. It is the time of interferometry; For the corresponding time sequence number Interference phase shift of atomic groups emitted by the first atomic source; For the corresponding time sequence number The interference phase shift of atomic groups emitted by the second atomic source. Continuous measurements can yield quasi-continuous quadriaxial inertial measurements without "dead time".

[0052] Example 3: A dynamic quantized axis control device for multi-axis inertial measurement, used for measuring the total inertial vector, based on Embodiment 1, includes two control units, such as... Figure 4 As shown, the length directions of the interference cavities 103 of the two control units intersect, preferably the length directions of the interference cavities 103 of the two control units are perpendicular to each other, and a magnetic shielding device is provided between the two control units. Define reference coordinate system The local coordinate system of the first control unit With reference coordinate system The mapping relationship is as follows: , , ; Local coordinate system of the control unit With reference coordinate system The mapping relationship is as follows: , , ; Indicates parallelism.

[0053] Example 4: The dynamic quantized axis control method for multi-axis inertial measurement, utilizing the dynamic quantized axis control device for multi-axis inertial measurement described in Example 3, includes the following steps: Step 1: Preset the first axis allocation timing and the second axis allocation timing; the first axis allocation timing includes sensitive axes arranged in chronological order. , Adjacent sensitive axes Different; the second axial allocation timing includes sensitive axes arranged sequentially in chronological order. , Adjacent sensitive axes different; Sensitive axis of the first axial allocation timing Sensitive axis of second axial allocation timing Time synchronization; Step 2: According to the preset first axial distribution timing, the first atomic source 101, the second atomic source 102, the Helmholtz coil, and each laser group of the first control unit undergo periodic changes. The first atomic source 101 and the second atomic source 102 of the first control unit continuously emit cold atomic clusters into the interference cavity 103 of the first control unit. The current of the Helmholtz coil of the first control unit is periodically adjusted to make the corresponding total magnetic field direction rotate periodically. The start and stop states of each laser group of the first control unit are periodically switched, thereby enabling each atomic cluster to perform a complete beam splitting, emission, and beam combining interference process. Simultaneously, according to the preset second axial distribution timing, the first atomic source 101, the second atomic source 102, the Helmholtz coil, and each laser group of the second control unit undergo periodic changes: the first atomic source 101 and the second atomic source 102 of the second control unit continuously emit cold atomic clusters into the interference cavity 103 of the second control unit; the current of the Helmholtz coil of the second control unit is periodically adjusted to make the direction of the total magnetic field rotate periodically; and the start and stop states of each laser group of the second control unit are periodically switched, thereby enabling each cold atomic cluster to undergo a complete beam splitting, emission, and beam combining interference process. Step 3: For the first control unit, corresponding to each sensitive axis After the corresponding cold atom clusters undergo a complete interference process, the population distribution of the cold atom clusters is detected to obtain the corresponding interference phase shift, and the corresponding rotational speed and acceleration are calculated. Meanwhile, for the second control unit, corresponding to each sensitive axis After the corresponding cold atom clusters undergo a complete interference process, the population distribution of the cold atom clusters is detected to obtain the corresponding interference phase shift, and the corresponding rotational speed and acceleration are calculated. Based on sensitive axis The corresponding rotational rate and acceleration, sensitive axis The corresponding rotational speed and acceleration yield the corresponding total inertial vector.

[0054] The total inertial vector is obtained through the following steps: When the sensitive axis corresponding to the first control unit for When the shaft is in motion: , , Meanwhile, the sensitive axis corresponding to the second control unit for axis: , , in, It is along the first control unit The rotational speed of the shaft, It is along the first control unit The acceleration of the axis, It is along the first control unit Raman wave vector of the axis, It is the atomic ejection velocity. It is the time of interferometry; It is along the second control unit The rotational speed of the shaft, It is along the second control unit The acceleration of the axis, It is along the second control unit Raman wave vector of the axis, For the corresponding time sequence number The interference phase shift of cold atomic groups emitted by the first atomic source of the first control unit; For the corresponding time sequence number The interference phase shift of cold atomic groups emitted by the second atomic source of the first control unit; For the corresponding time sequence number The interference phase shift of cold atomic groups emitted by the first atomic source of the second control unit; For the corresponding time sequence number The interference phase shift of cold atomic groups emitted by the second atomic source of the second control unit.

[0055] When the sensitive axis corresponding to the first control unit for Axis, correspondingly: , , Meanwhile, the sensitive axis corresponding to the second control unit for Axis, correspondingly: , , in, It is along the first control unit The rotational speed of the shaft, It is along the first control unit The acceleration of the axis, It is along the first control unit Raman wave vector of the axis; It is along the second control unit The rotational speed of the shaft, It is along the second control unit The acceleration of the axis, It is along the second control unit Raman wave vector of the axis.

[0056] In the reference coordinate system Below, the total acceleration vector in the total inertial vector. and full rotation vector The calculation formula is as follows: , , , , , , in, In the reference coordinate system The rotational speed of the shaft, In the reference coordinate system The rotational speed of the shaft, In the reference coordinate system The rotational speed of the shaft; In the reference coordinate system The acceleration of the axis, In the reference coordinate system The acceleration of the axis, In the reference coordinate system The acceleration of the shaft.

[0057] It should be noted that the embodiments described in this invention are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains can make various modifications or additions to the described embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A dynamic quantum axis control device for multi-axis inertial measurement, comprising a control unit, characterized in that, Taking the length direction of the interference cavity (103) in the control unit as The height direction of the interference cavity (103) is along the axial direction. In the axial direction, the thickness direction of the interference cavity (103) is... Axial direction; along Along the axial direction, a first atomic source (101) and a second atomic source (102) are respectively set at both ends of the interference cavity (103); External setting of interference cavity (103) Axis laser group, The axial laser assembly and three pairs of mutually orthogonal Helmholtz coils: Each laser group includes three pairs of edges Laser pairs are arranged sequentially along the axis, and the two opposing Raman beams in each laser pair are emitted into the interference cavity (103). The Raman beam of the axial laser group is parallel to axis, The Raman beam of the axial laser group is parallel to axis; The direction of the magnetic field generated by each pair of Helmholtz coils is parallel to the direction of a corresponding coordinate axis. The rotation control module has a preset axial allocation timing sequence, which includes sensitive axes arranged in chronological order. , Adjacent sensitive axes different; According to the axial allocation timing, the first atomic source (101), the second atomic source (102), the Helmholtz coil, and each laser group change periodically according to the following rules: Corresponding to each sensitive axis The first atomic source (101) and the second atomic source (102) each emit an atomic group. ; and in atomic groups At the moment of entering the interference region in the interference cavity (103), the total magnetic field generated by all Helmholtz coils The direction of the light, and the direction of the Raman light in the activated laser array, are both related to the sensitive axis. The directions are consistent; axial magnetic field and The magnitude of the resultant magnetic field in the axial direction remains unchanged, and the rotational frequency of the resultant magnetic field is less than the Larmor precession frequency.

2. The dynamic quantum axis control device for multi-axis inertial measurement according to claim 1, characterized in that, For the three pairs of mutually orthogonal Helmholtz coils, the magnitudes of the magnetic fields generated in the three coordinate axes satisfy the following requirements: ， in, for axial magnetic field for axial magnetic field for Magnetic field along the axis; It is an ultra-fine Landé g-factor. It is the Bohr magneton. The amplitude of the combined magnetic field, It is Planck's constant; This indicates the current moment in the rotation process of the magnetic field, with the corresponding starting time point being the beginning of the magnetic field rotation process. ; Indicates the duration of magnetic field switching, one sensitive axis This corresponds to a magnetic field rotation process; The direction of the resultant magnetic field and The angle along the axial direction, i.e. axial magnetic field and axial magnetic field The direction of the resultant magnetic field and The angle between the axes is denoted as angle. ; When the sensitive axis for axis: ， Corresponding intermediate quantity satisfy: ； When the sensitive axis for axis: ， Corresponding intermediate quantity satisfy: 。 3. The dynamic quantum axis control device for multi-axis inertial measurement according to any one of claims 1, characterized in that, For each of the aforementioned sensitive axes : The duration of the laser pulse of the Raman light in the laser pair near the first atomic source (101) and the second atomic source (102) is The duration of the Raman laser pulse of the laser pair located in the middle is .

4. The dynamic quantum axis control device for multi-axis inertial measurement according to claim 2, characterized in that, There are two control units, and the length directions of the interference cavities (103) of the two control units are perpendicular to each other. A magnetic shielding device is provided between the two control units. Define reference coordinate system The local coordinate system of the first control unit With reference coordinate system The mapping relationship is as follows: , , ; Local coordinate system of the control unit With reference coordinate system The mapping relationship is as follows: , , ; Indicates parallelism.

5. A dynamic quantized axis control method for multi-axis inertial measurement, utilizing the dynamic quantized axis control device for multi-axis inertial measurement as described in claim 3, characterized in that, Includes the following steps: Step 1: Preset the axial allocation timing sequence, which includes sensitive axes arranged in chronological order. , Adjacent sensitive axes different; Step 2: According to the preset axial distribution timing, the first atomic source (101), the second atomic source (102), the Helmholtz coil, and each laser group undergo periodic changes, thereby enabling each atomic cluster to perform a complete beam splitting, emission, and beam combining interference process; Step 3: For each sensitive axis The corresponding atomic group After performing the complete interference process, the atomic cluster was detected. The population distribution is obtained, the corresponding interference phase shift is obtained, and the corresponding rotational speed and acceleration are calculated.

6. The dynamic quantized axis control method for multi-axis inertial measurement according to claim 4, characterized in that, The calculation of the rotational speed and acceleration specifically includes the following steps: When the sensitive axis for When the shaft is in motion: ， ， When the sensitive axis for When the shaft is in motion: ， ， in, yes The rotational speed of the shaft, yes The rotational speed of the shaft, yes The acceleration of the axis, yes The acceleration of the axis, yes Raman wave vector of the axis, yes Raman wave vector of the axis, It is the atomic ejection velocity. It is the time of interferometry; For the corresponding time sequence number The interference phase shift of atomic groups emitted by the first atomic source; For the corresponding time sequence number Interference phase shift of atomic groups emitted by the second atomic source.

7. A dynamic quantized axis control method for multi-axis inertial measurement, utilizing the dynamic quantized axis control device for multi-axis inertial measurement as described in claim 4, characterized in that, Includes the following steps: Step 1: Preset the first axis allocation timing and the second axis allocation timing; the first axis allocation timing includes sensitive axes arranged in chronological order. , Adjacent sensitive axes Different; the second axial allocation timing includes sensitive axes arranged sequentially in chronological order. , Adjacent sensitive axes different; Sensitive axis of the first axial allocation timing Sensitive axis of second axial allocation timing Time synchronization; Step 2: According to the preset first axial allocation timing, the first atomic source (101), the second atomic source (102), the Helmholtz coil, and each laser group of the first control unit undergo periodic changes; Meanwhile, according to the preset second axial allocation timing, the first atomic source (101), the second atomic source (102), the Helmholtz coil, and each laser group of the second control unit undergo periodic changes; Step 3: For the first control unit, corresponding to each sensitive axis After the corresponding cold atom clusters undergo a complete interference process, the population distribution of the cold atom clusters is detected to obtain the corresponding interference phase shift, and the corresponding rotational speed and acceleration are calculated. Meanwhile, for the second control unit, corresponding to each sensitive axis After the corresponding cold atom clusters undergo a complete interference process, the population distribution of the cold atom clusters is detected to obtain the corresponding interference phase shift, and the corresponding rotational speed and acceleration are calculated. Based on sensitive axis The corresponding rotational rate and acceleration, sensitive axis The corresponding rotational rate and acceleration yield the corresponding total inertial vector, where The time series number corresponding to the atomic group is denoted as the time series number. .

8. The dynamic quantized axis control method for multi-axis inertial measurement according to claim 7, characterized in that, The total inertial vector is obtained through the following steps: When the sensitive axis corresponding to the first control unit for When the shaft is in motion: ， ， Meanwhile, the sensitive axis corresponding to the second control unit for axis: ， ， in, It is along the first control unit The rotational speed of the shaft, It is along the first control unit The acceleration of the axis, It is along the first control unit Raman wave vector of the axis, It is the atomic ejection velocity. It is the time of interferometry; It is along the second control unit The rotational speed of the shaft, It is along the second control unit The acceleration of the axis, It is along the second control unit Raman wave vector of the axis, For the corresponding time sequence number The interference phase shift of cold atomic groups emitted by the first atomic source of the first control unit; For the corresponding time sequence number The interference phase shift of cold atomic groups emitted by the second atomic source of the first control unit; For the corresponding time sequence number The interference phase shift of cold atomic groups emitted by the first atomic source of the second control unit; For the corresponding time sequence number The interference phase shift of cold atomic groups emitted by the second atomic source of the second control unit; When the sensitive axis corresponding to the first control unit for Axis, correspondingly: ， ， Meanwhile, the sensitive axis corresponding to the second control unit for Axis, correspondingly: ， ， in, It is along the first control unit The rotational speed of the shaft, It is along the first control unit The acceleration of the axis, It is along the first control unit Raman wave vector of the axis; It is along the second control unit The rotational speed of the shaft, It is along the second control unit The acceleration of the axis, It is along the second control unit Raman wave vector of the axis; In the reference coordinate system Below, the total acceleration vector in the total inertial vector. and full rotation vector The calculation formula is as follows: ， ， ， ， ， ， in, In the reference coordinate system The rotational speed of the shaft, In the reference coordinate system The rotational speed of the shaft, In the reference coordinate system The rotational speed of the shaft; In the reference coordinate system The acceleration of the axis, In the reference coordinate system The acceleration of the axis, In the reference coordinate system The acceleration of the shaft.

Images