Atomic interference gyroscope scale factor calibration method based on ground velocity excitation
By using a ground-velocity excitation-based method, the output phase of the three-axis cold atom interferometer gyroscope of the inertial measurement unit was recorded. The three-axis scaling factor of the atom interferometer gyroscope was synchronously calibrated using least squares fitting, which solved the three-dimensional rotation problem and improved the positioning accuracy of the inertial navigation system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-26
- Publication Date
- 2026-04-07
AI Technical Summary
At present, it is difficult for atomic gyroscope inertial navigation sensitive units to achieve 180° rotation in three dimensions, which makes it difficult to calibrate the gyroscope scaling factor on a three-axis turntable and affects the accuracy of inertial navigation and positioning.
A ground-velocity-excited atomic interferometric gyroscope scaling factor calibration method is adopted. By changing the orientation of the inertial measurement unit in the horizontal plane, the output phase of the three-axis cold atomic interferometric gyroscope is recorded, and the scaling factor is obtained by least squares fitting, thus achieving three-axis synchronous calibration.
Without relying on the 180° rotation of the atomic interferometer gyroscope or a three-axis turntable, the synchronous calibration of the three-axis scaling factor of the atomic interferometer gyroscope was achieved, reducing the requirements for calibration conditions and improving the positioning accuracy of the inertial navigation system.
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Figure CN121804532A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of inertial measurement units, and relates to a cold atom interference gyroscope, in particular to a scale factor calibration method for an atom interference gyroscope based on ground speed excitation. BACKGROUND
[0002] In the past decade, atom interference measurement technology has developed rapidly and been widely applied. Due to its high sensitivity and quantum properties, it has potential application prospects in the field of high-precision inertial navigation.
[0003] The inertial measurement unit of the inertial navigation system usually contains three gyroscopes with mutually perpendicular sensitive axes. The inertial measurement unit based on the atom interference gyroscope is the core component of the quantum inertial navigation system. The angular motion information collected by the atom interference gyroscope is output in the form of phase and cannot be directly used for inertial navigation calculation. It needs to be multiplied by the scale factor to convert into the angular velocity required for navigation before the inertial navigation calculation can be performed. The calibration accuracy of the axis vector direction of the three-axis rotation of the inertial sensitive unit and the scale factor size directly determines the navigation and positioning accuracy.
[0004] Due to the large number of optical fibers and connecting lines connected with the laser unit and the electrical control unit in the current atom gyroscope inertial navigation sensitive unit, it is difficult to realize the three-dimensional 180° rotation of the atom gyroscope inertial navigation sensitive unit and calibrate the scale factor of the gyroscope by using a three-axis turntable. SUMMARY
[0005] The purpose of the application is to provide a scale factor calibration method for an atom interference gyroscope based on ground speed excitation, which realizes the synchronous calibration of the scale factor of the three-axis atom interference gyroscope in the inertial measurement unit.
[0006] The technical solution adopted by the application to solve the technical problem is: a scale factor calibration method for an atom interference gyroscope based on ground speed excitation, the steps being as follows:
[0007] S1, according to the working principle of the atom interference gyroscope of the double-cold-atom-group pair throw-type three-pulse system, the theoretical design value of the scale factor of the atom interference gyroscope is 2k eff vT 2 , and the theoretical design value of the scale factor of the accelerometer is k eff T 2 The measured value F corresponding to the scale factor of the atom interference gyroscope can be obtained according to the fitting experiment of the earth rotation.
[0008] S2, the linear model of the input-output relationship of the atom interference gyroscope is established as follows: Φ Ω =F⋅Ω earth +ϵ, wherein Φ Ω is the output phase of the atom interference gyroscope, F is the scale factor, and ϵ is the fitting zero position.
[0009] S3, synchronously recording the output phase of the three-axis cold atom interferometric gyro by changing the pointing of the inertial measurement unit in the horizontal plane Ω, the angular velocity of the earth rotation earth The projection of the skyward axis of the geographic coordinate system at the local latitude L is Ω earth ⋅sinL, and the projection of the northward axis is Ω earth ⋅cosL, according to the angle θ of the atomic interferometric gyro axis relative to the north north and the angle θ of the atomic interferometric gyro axis relative to the horizontal plane raman According to the orthogonal installation mode of the three-axis cold atom interferometric gyro in the inertial measurement unit, the angle of the atomic interferometric gyro axis relative to the horizontal plane can be obtained according to the physical structure, and the angular velocity of the earth rotation Ω earth The excitation of the atomic interferometric gyro is Ω=Ω earth ⋅cosL⋅cosθ north ⋅sinθ raman +Ω earth ⋅sinL, the corresponding angular velocity of the earth rotation excitation of the three-axis cold atom interferometric gyro is Ω x ,Ω y ,Ω z By least square fitting, the scale factors F x , F y , F z of the three gyroscopes in the inertial measurement unit can be obtained simultaneously.
[0010] Further, the step S3 is to install the inertial navigation sensitive unit based on the cold atom interferometric gyro on the optical platform, the base is parallel to the horizontal plane, the base is rotated to different angle values along the vertical direction and stopped, after the cold atom interferometric gyro is stable in the static state, the computer sampling program is started respectively, and the output phase values of the three cold atom interferometric gyroscopes in the inertial measurement unit are recorded .
[0011] The beneficial effects of the present application are: the present application can realize the synchronous calibration of the scale factors of the three-axis atomic interferometric gyroscopes in the inertial measurement unit without relying on the 180° flip of the atomic interferometric gyro or using a three-axis turntable, which reduces the demand for calibration conditions of the inertial measurement unit based on the cold atom interferometric gyro at the present stage, and provides a simple and easy alternative solution. BRIEF DESCRIPTION OF DRAWINGS
[0012] Figure 1 It is the axial relationship diagram of the three-axis atomic interferometric gyroscopes in the inertial measurement unit;
[0013] Figure 2Fitting result of the earth rotation for the atomic interference gyroscope 1 of the present application;
[0014] Figure 3 Fitting result of the earth rotation for the atomic interference gyroscope 2 of the present application;
[0015] Figure 4 Fitting result of the earth rotation for the atomic interference gyroscope 3 of the present application. DETAILED DESCRIPTION
[0016] The present application will be further described in detail below with reference to the accompanying drawings.
[0017] The present application discloses a method for calibrating the scale factor of an atomic interference gyroscope in an inertial measurement unit based on the excitation of the atomic interference gyroscope by the earth rotation angular velocity and the atomic gyro inertial navigation characteristics, and the steps are as follows.
[0018] S1, according to the working principle of the atomic interference gyroscope of the double-cold-atom group against the three-pulse body system, the theoretical design value of the scale factor of the atomic interference gyroscope is 2k eff vT 2 , and the theoretical design value of the scale factor of the accelerometer is k eff T 2 The measured value F corresponding to the scale factor of the atomic interference gyroscope can be obtained according to the earth rotation fitting experiment.
[0019] S2, the linear model of the input-output relationship of the atomic interference gyroscope is established as follows: Φ Ω =F⋅Ω earth +ϵ, wherein Φ Ω is the output phase of the atomic interference gyroscope, F is the scale factor, Ω earth is the earth rotation angular velocity, Ω is the excitation of the atomic interference gyroscope by the earth rotation angular velocity, and ϵ is the fitting zero position.
[0020] S3, by changing the pointing direction of the inertial measurement unit in the horizontal plane, the output phase of the three-axis atomic interference gyroscope and the corresponding excitation of the atomic interference gyroscope by the earth rotation angular velocity Ω x , Ω y , Ω z are recorded synchronously; according to the functional relationship between the output phase of the atomic interference gyroscope and the excitation of the earth rotation angular velocity, the scale factors of the three atomic interference gyroscopes in the inertial measurement unit can be obtained simultaneously by using the least square fitting.
[0021] The scale is that the inertial navigation sensitive unit based on cold atom interference gyroscope is installed on an optical platform, the base is parallel to the horizontal plane, the base is rotated to different angle values along the vertical direction and stopped, after the turntable is in the static state and the cold atom interference gyroscope is stabilized, the computer sampling program is started respectively, and the output phase values of the cold atom interference gyroscope are recorded .
[0022] The earth rotation angular velocity Ω earth The projection of the skyward axis of the geographic coordinate system at the local latitude L is Ω earth ⋅sinL, and the projection of the northward axis is Ω earth ⋅cosL; according to the angle θ north between the atomic interference gyroscope axis and the north direction and the angle θ raman between the atomic interference gyroscope axis and the horizontal plane, for the cold atom interference gyroscope placed horizontally, the angle between the atomic interference gyroscope axis and the horizontal plane is zero. According to the angle θ north between the atomic interference gyroscope axis and the north direction and the angle θ raman between the atomic interference gyroscope axis and the horizontal plane, in the inertial measurement unit, according to the orthogonal installation mode of the three-axis cold atom interference gyroscope, the angle between the atomic interference gyroscope axis and the horizontal plane can be obtained according to the physical structure, and thus the earth rotation angular velocity Ω earth can be obtained earth ⋅cosL⋅cosθ north ⋅sinθ raman +Ω earth ⋅sinL, and the excitation of the corresponding earth rotation angular velocity to the three axes of the cold atom interference gyroscope Ω x ,Ω y ,Ω z can be calculated, and by using least square fitting, the scale factors F x , F y , F z of the three gyroscopes in the inertial measurement unit can be obtained simultaneously.
[0023] Figure 1 As shown in the figure, it is the axial relationship of the three-axis atomic interference gyroscopes (Gyro-X, Gyro-Y, Gyro-Z) in the inertial measurement unit; the projections of the earth rotation angular velocity in the north direction and the skyward direction; and the vector composition relationship between the excitation of the atomic interference gyroscope Gyro-X and the projections of the earth rotation angular velocity.
[0024] The angle of the base relative to the geographic north direction is changed along the skyward axis of the base, and by means of the earth rotation fitting, the fitting curve of the interference phase of the atomic interference gyroscope about the north direction angle can be obtained.
[0025] The measured phase data of three atomic interferometer gyroscopes obtained from the experiment about the north angle θ of the atomic interferometer gyroscope north The measurement results and fitting results of the north angle θ of the atomic interferometer gyroscope are shown in the following figure. According to the fitting results, the experimental values of the scale factor F of the three-axis atomic interferometer gyroscope are 1.0631e+04 rad / (rad / s), 1.0579e+04 rad / (rad / s) and 1.0695e+04 rad / (rad / s) respectively.
[0026] Figure 2 , Figure 3 and Figure 4 are the fitting results of atomic interferometer gyroscope 1, atomic interferometer gyroscope 2 and atomic interferometer gyroscope 3 fitting the earth rotation respectively.
[0027] Those skilled in the art can easily understand that the above description is only a preferred use case of the present application, and is not used to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A method for scaling factor calibration of an atomic interferometer gyroscope based on ground velocity excitation, characterized in that: The steps are as follows: S1, based on the theoretical design value of the scaling factor 2k for the atomic interferometer gyroscope. eff vT 2 The theoretical design value of the accelerometer scale factor k eff T 2 The measured value F of the scaling factor of the cold atom interferometric gyroscope was obtained based on the Earth rotation fitting experiment. S2, Establish a linear model Φ of the input-output relationship of the atomic interferometer gyroscope. Ω =F⋅Ω earth +ϵ, where Φ Ω For the output phase of the atomic interferometer gyroscope, Ω earth ϵ represents the Earth's rotational angular velocity, and ϵ is the fitted null position. S3, by changing the orientation of the inertial measurement unit in the horizontal plane, synchronously records the output phase of the three-axis cold atom interferometer gyroscope. Earth's rotational angular velocity Ω earth The projection of the celestial axis of the geographic coordinate system at the local latitude L is Ω. earth The projection of sinL onto the north axis is Ω. earth ⋅cosL, the angle θ between the axis of the atomic interferometer gyroscope and north is... north The angle between the axis of the atomic interferometer gyroscope and the horizontal plane is θ. raman According to the Earth's rotational angular velocity Ω earth The excitation of the atomic interferometer gyroscope Ω=Ω earth ⋅cosL⋅cosθ north ⋅sinθ raman +Ω earth ⋅sinL, to obtain the corresponding Earth's rotational angular velocity and its excitation Ω on the three axes of the cold atom interferometric gyroscope. x ,Ω y ,Ω z The scaling factor F of the three gyroscopes in the inertial measurement unit is obtained by using least squares fitting. x F y F z .
2. The method for scaling factor calibration of an atomic interferometer based on ground velocity excitation according to claim 1, characterized in that, Step S3 involves mounting the inertial navigation sensing unit based on the cold atom interferometric gyroscope on an optical platform with the base parallel to the horizontal plane. The base is then rotated vertically to different angles and stopped. After the cold atom interferometric gyroscope has stabilized in a stationary state, the output phase values of the three gyroscopes in the inertial measurement unit are recorded. .
3. The method for scaling factor calibration of an atomic interferometer gyroscope based on ground velocity excitation according to claim 2, characterized in that, In step S3, for a horizontally placed cold atom interferometer gyroscope, the angle between the gyroscope axis and the horizontal plane is zero.