CN103528580A - Method for measuring rotating angle of aircraft based on nuclear magnetic resonance - Google Patents
Method for measuring rotating angle of aircraft based on nuclear magnetic resonance Download PDFInfo
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- CN103528580A CN103528580A CN201310503732.8A CN201310503732A CN103528580A CN 103528580 A CN103528580 A CN 103528580A CN 201310503732 A CN201310503732 A CN 201310503732A CN 103528580 A CN103528580 A CN 103528580A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/60—Electronic or nuclear magnetic resonance gyrometers
- G01C19/62—Electronic or nuclear magnetic resonance gyrometers with optical pumping
Abstract
The invention provides a method for measuring the rotating angle of an aircraft based on nuclear magnetic resonance. The method is characterized in that two isotope nucleuses with the same element and different gyromagnetic ratios serve as a measurement carrier of an aircraft rotating angle measurement gyroscope; an alkali metal element is added into a cylindrical glass sealed cavity in a nuclear magnetic resonance resonant cavity of the aircraft rotating angle measurement gyroscope based on a spin polarization exchange mechanism; electron spin polarization of alkali metal atoms is transferred to two isotopic atoms serving as the rotating speed measurement carrier of the gyroscope to cause net nucleus spin polarization of the two isotopic atoms. Therefore, the magnetic polarization strength of the isotopic measurement carrier can be improved, and a signal to noise ratio of a detected signal can be improved.
Description
Technical field
The present invention relates to a kind of measuring method of measuring aircraft spin angle, particularly a kind of aircraft rotational angle based on nuclear magnetic resonance principle detects gyrostatic measuring method.
Background technology
It is the vital task in inertial navigation that the flight attitude of aircraft is controlled.In flight course, lean on the High Rotation Speed of aircraft self can maintain a stable heading.Gyroscope can effectively be measured the real-time anglec of rotation of object or speed, thereby provides important technical parameter to flight navigation control.Traditional gyroscope, as mechanical gyroscope, fibre optic gyroscope etc., owing to containing mechanical rotating part, very sensitive to motion overload and vibration etc., causes certain influence to gyrostatic Design and Features.
Chinese patent 2006101715882 " adopt low partially and the optical fibre gyro of mixed optical path of polarization maintaining " adopts the optical fibre gyro of low inclined to one side and mixed optical path of polarization maintaining, by optics gauge outfit and circuit signal processing section, formed, optics gauge outfit comprises: light source, Y waveguide, detector, coupling mechanism and fiber optic loop, wherein light source is low polarized light source, single-mode tail fiber coupling; Y waveguide input end adopts single-mode fiber, and Y waveguide output terminal optical fiber adopts polarization maintaining optical fibre; Described detector input tail optical fiber is single-mode fiber; Coupling mechanism is the single-mode optical-fibre coupler of 2 * 2 polarization irrelevants; Fiber optic loop is polarization maintaining optical fibre.But the light path system of this gyro is comparatively complicated, and each parts are easily changed by the polarization state of influence of temperature change light wave, thereby the linearity of influence scale factor and noise level.
United States Patent (USP) U.S.20070039881 " atom magnetometer and the gyroscope of compact based on divergent laser beam " discloses a kind of miniature Nuclear Magnetic Resonance Gyroscope (NMRG), mainly comprises three parts: (1) is equipped with the base plate of 1 vertical cavity surface-emitting laser light source and 4 photodetectors; (2) 1/4 wavelength wafers; (3) NMRG chamber.Under static magnetic field and pulsed magnetic field action, circularly polarized light is modulated on the precession frequency of vapour in NMRG chamber, and 4 faces in chamber make light modulated turn back to photodetector as micro-reflector.When gyroscope rotates with a fixed angular speed, the light intensity conversion circular frequency that photodetector detects and the difference of vapour precession frequency are gyrostatic angular velocity of rotation.But, owing to adopting single vapour as medium, detecting the precession frequency obtaining and be subject to the impact of externally-applied magnetic field fluctuation very obvious, the dynamic range of angle random variable (Angle Random Walk) easily exceeds pre-provisioning request.
Existing magnetic resonance gyroscope instrument only adopts a kind of element to catch cavity moment of inertia as sensing medium, therefore its measuring accuracy is subject to the impact of static magnetic field stability, and the stability of the static magnetic field producing under prior art does not reach requirement, can cause larger measuring error.
Summary of the invention
The object of the invention is to overcome the larger shortcoming of measuring error that existing magnetic resonance gyroscope instrument causes because static magnetic field is unstable, proposed a kind ofly new for aircraft rotational angular velocity, to detect gyrostatic measuring method.The present invention is based on nuclear magnetic resonance principle, two kinds of isotopes that the gyromagnetic ratio of employing identity element is respectively positive number and negative complete catching of cavity moment of inertia as sensing medium, simultaneously based on spin polarization exchange mechanism, in chamber, add alkaline metal to adjust the magnetic polarization intensity of isotope measure carrier, improve the signal to noise ratio (S/N ratio) of detection signal, thereby eliminate the unstable impact on gyroscope survey precision of static magnetic field.
Apply aircraft rotational angle detection gyroscope of the present invention and comprise nuclear magnetic resonance resonator cavity, excitation pumping laser light source, detect with pumping laser light source, external reference frequency source, and photodiode.Excitation is positioned at the below in nuclear magnetic resonance chamber with pumping laser light source, detect the left side in nuclear magnetic resonance chamber with pumping laser light source, external reference frequency source and photodiode are on the right side in nuclear magnetic resonance chamber, and detection is centered close on same straight line with pumping laser light source, external reference frequency source and photodiode, this straight line is perpendicular to pumping laser light source center place straight line for excitation.Wherein, described nuclear magnetic resonance resonator cavity is comprised of cylindrical glass enclosed cavity and the main static magnetic field coil being sleeved on outside glass enclosed cavity, is filled with two kinds of isotopic operation materials and the alkali-metal potpourri of a kind of gaseous state in glass enclosed cavity.Main static magnetic field coil provides biasing polarizing magnetic field for two kinds of isotopic operation materials and the alkali-metal potpourri of a kind of gaseous state.Excitation is axially irradiated gaseous bases metal with pumping exciting light source along glass enclosed cavity, the degree of polarization of its electron spin is raise rapidly, and pass to two kinds of isotopic operation materials, increases or reduce its precession frequency.Detect with pumping laser light source perpendicular to glass closed cavity, axially irradiate two kinds of isotopic operation materials and a kind of gaseous bases metal, and make photodiode output absorb light intensity signal, therefrom demodulate respectively two kinds of isotopic operation materials and the alkali-metal precession frequency of a kind of gaseous state.In glass closed cavity rotation process, by FEEDBACK CONTROL, make main static magnetic field coil produce constant static magnetic field, realize two kinds of isotopic precession signal sums and reference frequency source phase-locked, wherein the difference of a kind of isotope precession phase place and frequency source signal phase equals the rotational angle of metallic cavity.
The present invention is based on following principle:
The non-vanishing isotope atom core of spin quantum number, in static magnetic field, is done circumference precession around magnetic direction, is called Larmor precession, and its precession frequency is directly proportional to isotopic gyromagnetic ratio and static magnetic field.When gyroscope rotates, the velocity of rotation of inner isotope atom core equals precession frequency and gyroscope rotating speed sum, therefore, according to the precession frequency of known static magnetic field strength and measurement gained, just can obtain gyrostatic rotating speed.
In order to overcome the unsettled impact of static magnetic field, the present invention adopts two kinds of different isotope atom cores of identity element, gyromagnetic ratio to measure gyroscope tachometric survey carrier as the aircraft rotational angle based on nuclear magnetic resonance.In addition based on spin polarization exchange mechanism, in glass enclosed cavity in described gyrostatic nuclear magnetic resonance resonator cavity, add a kind of gaseous bases metallic element, alkali metal atom passes to two kinds of isotope atoms as gyroscope tachometric survey carrier using the electron-spin polarization of self, the clean nuclear spin polarization that causes two kinds of isotope atoms, improve the magnetic polarization intensity of isotope measure carrier, improve the signal to noise ratio (S/N ratio) of detection signal.
The concrete operation step of method of the present invention is as follows:
First the cylindrical glass enclosed cavity of nuclear magnetic resonance resonator cavity is vacuumized, vacuum tightness is 10Pa, is then filled with two kinds of isotopes of inert gas or gaseous state Hg element as operation material, as gyroscope tachometric survey carrier.Two kinds of isotopes of described operation material have the gyromagnetic ratio that symbol is contrary.Be filled with again a kind of gaseous bases metallic element Rb and be 1% buffer gas N of nuclear magnetic resonance intracavity gas total amount
2, then glass enclosed cavity is sealed.Along described glass enclosed cavity axially apply a main static magnetic field that intensity is controlled, two kinds of isotope materials of inert gas and Hg element in glass enclosed cavity are polarized in advance.Then, along glass enclosed cavity, axially apply a branch of circularly polarized laser being produced with pumping laser light source by excitation, described circularly polarized laser frequency is corresponding to alkali-metal resonant frequency, with so that there is significantly polarization in alkaline metal electron spin, and make two kinds of isotopic operation materials in glass enclosed cavity that remarkable polarization also occur by the collision effect between microscopic particle, impel the atomic nucleus of two kinds of isotopic operation materials respectively around externally-applied magnetic field, i.e. left-handed the and right-lateral movement of axially doing high speed of glass enclosed cavity.In order to detect the rotating speed as the nuclear spin of two kinds of isotopic operation materials of gyroscope tachometric survey carrier, on the axial direction perpendicular to glass enclosed cavity cavity, apply again another bundle by detect with pumping laser light source, produce with the circular polarization detection laser of excitation with circular polarization pumping laser same frequency, after the horizontal component of described circular polarization detection laser and two kinds of isotopic operation material spins interacts, at the photodiode output detections of glass enclosed cavity cavity opposite side, use the optical intensity modulation signal of the detection laser of pumping laser light source generation, the precession frequency that comprises two kinds of isotopic operation materials in described optical intensity modulation signal.The difference of the phase place of the signal in this optical intensity modulation signal and external reference frequency source is the rotational angle of aircraft.
Further record two kinds of isotopic precession frequencies are subtracted each other, obtain total precession frequency and the actual static magnetic field strength of two kinds of isotopic operation materials, in actual use, main static magnetic field strength can be offset to some extent, is not fixing constant.Because this gyroscope equipment does not now rotate, in non-surveying work state, total precession frequency of resulting two kinds of isotopic operation materials is directly proportional to actual static magnetic field strength, and irrelevant with the rotational speed of glass closed cavity.Then by described total precession signal locking in an external reference frequency source signal, this is phase-locked by the feedback control circuit being connected with the main static magnetic field coil that main static magnetic field is provided with external reference frequency source, and the intensity that FEEDBACK CONTROL produces additional static magnetic field by solenoid realizes.Finally, make this gyroscope equipment work under the condition of true field steady, measure any one isotopic precession signal phase of operation material, this precession signal phase is directly proportional to the difference of described external reference frequency source signal phase place and the real-time rotation phase of glass closed cavity.
Identical with the rotational speed of aircraft because being fixed on carry-on gyrostatic rotational speed, the present invention is not subject to the impact of the factors such as the inertia of gyroscope body and mechanical vibration on the detection of aircraft rotational speed or angle, in gyroscope nuclear magnetic resonance resonator cavity, do not contain rotatable parts, thereby increased the stability of work; In addition, the present invention is based on two kinds of isotopic detection methods of different gyromagnetic ratios, overcome the measuring error that prior art causes due to main field fluctuation.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
The magnetic resonance gyroscope instrument fundamental diagram that Fig. 1 the present invention detects for the rotational angle that flies, in figure, 1 glass enclosed cavity, 2 main field coils, 3 the first noble gas isotopes, 4 the second noble gas isotopes, 5 alkaline metal electron spins, 6 excitation pumping laser light sources, 7 detection pumping laser light sources, 8 external reference frequency sources, 9 photodiodes.
Fig. 2 pumping laser-alkaline metal of the present invention magnetic polarization schematic diagram.
Embodiment
As shown in Figure 1, the aircraft rotational angle of application the inventive method detects gyroscope and comprises nuclear magnetic resonance resonator cavity, excitation pumping laser light source 6, detects with pumping laser light source 7, external reference frequency source 8, photodiode 9 a kind of embodiment of the present invention.Excitation is positioned at the below in nuclear magnetic resonance chamber with pumping laser light source 6, detect with pumping laser light source 7 left sides in nuclear magnetic resonance chamber, external reference frequency source 8 and photodiode 9 are on the right side in nuclear magnetic resonance chamber, and detection is centered close on same straight line with pumping laser light source 7, external reference frequency source 8 and photodiode 9, this straight line is perpendicular to pumping laser light source center place straight line for excitation.Wherein, nuclear magnetic resonance resonator cavity is comprised of glass enclosed cavity 1 and the main field coil 2 being positioned at outside glass enclosed cavity, has two kinds of noble gas isotopes and the alkali-metal potpourri of a kind of gaseous state in glass enclosed cavity 1.The magnetic direction that described main static magnetic field coil 2 produces is along the axial distribution of glass enclosed cavity 1, for two kinds of noble gas isotopes and the alkali-metal potpourri of gaseous state provide polarization bias magnetic field, the exciting laser effect that gaseous bases metal is sent with pumping laser light source 6 in excitation is issued to larger polarized state, and makes noble gas isotope also in strong polarized state by electron spin transmission.Rotation along with aircraft, detecting the laser sending with pumping laser light source 7 passes after the potpourri in glass enclosed cavity 1, irradiate photodiode 9 and produce modulation signal, the precession frequency information that described modulation signal comprises two kinds of noble gas isotopes, the difference of the phase place of the signal in this modulation signal and external reference frequency source 8 is the rotational angle of aircraft.
As shown in Figure 2, in glass enclosed cavity 1, be filled with certain gaseous bases metal, for example
87rb, under irradiating with pumping laser without external drive, the magnetic direction of described alkaline metal electron spin is distribution desultorily in space, apply after pumping laser, the moment of inertia of each electron spin trends towards laser propagation direction, in macroscopic view, show as and form a stronger static magnetic field, the static magnetic field that itself and coil produce determines the precession frequency of noble gas isotope jointly.In addition, in glass enclosed cavity 1, sneak into a certain amount of alkaline metal and can make the polarization intensity of inert gas working substance significantly improve approximately 1000 times, greatly improved the signal to noise ratio (S/N ratio) of detection signal.
In the embodiment of the present invention shown in Fig. 1, adopt two kinds of isotopes of xenon
129xe and
131xe is as glass enclosed cavity cavity rotational angle, the operation material that gyroscope rotational angle detects, be respectively-1.345*10 of the gyromagnetic ratio of two kinds of xenon isotopes
7rad/ (T*s) and 0.34911*10
7rad/ (T*s).Along with two kinds of xenon isotopes are around cavity axial-rotation, the absorption light intensity of the circular motion of the vertical component of its rotating vector sends impact detection laser with pumping laser light source in the photodiode of glass enclosed cavity 1 cavity opposite side, when the sensing of described vertical component with detect the laser propagation direction of sending with pumping laser light source when identical, glass sealing intracavity gas is minimum to the absorption of light intensity, otherwise when vertical component is pointed to the laser direction sending with pumping laser light source with detection when contrary, intracavity gas is maximum to the absorption of light intensity, be that isotopic precession frequency is modulated to laser absorption degree signal.
In another embodiment of the present invention, adopt two kinds of isotopes of mercury
199hg and
201hg replaces the noble gas isotope in above-mentioned embodiment
129xe and
131xe, the operation material detecting as glass closed cavity rotational angle, both gyromagnetic ratios are respectively 4.8154*10
7rad/ (T*s) and-1.7776*10
7rad/ (T*s).Along with two kinds of mercury isotopes are around cavity axial-rotation, the absorption light intensity of the circular motion of the vertical component of its rotating vector sends impact detection laser with pumping laser light source in the photodiode of glass enclosed cavity cavity opposite side, when the sensing of described rotating vector vertical component with detect the laser propagation direction of sending with pumping laser light source when identical, glass sealing intracavity gas is minimum to the absorption of light intensity, otherwise when described vertical component is pointed to the laser direction sending with pumping laser light source with detection when contrary, glass sealing intracavity gas is maximum to the absorption of light intensity, be that isotopic precession frequency is modulated to laser absorption degree signal.
Claims (4)
1. the aircraft rotational angle measuring method based on nuclear magnetic resonance, is characterized in that, described measuring method employing identity element, two kinds of isotope atom cores that gyromagnetic ratio is different are measured gyroscope survey carrier as aircraft rotational angle; Based on spin polarization exchange mechanism, in cylindrical glass enclosed cavity in aircraft rotational angle is measured gyroscope nuclear magnetic resonance resonator cavity, add a kind of alkali metal, alkali metal atom passes to two kinds of isotope atoms as described gyroscope tachometric survey carrier using the electron-spin polarization of self, the clean nuclear spin polarization that causes two kinds of isotope atoms, improve the magnetic polarization intensity of isotope measure carrier, improve the signal to noise ratio (S/N ratio) of detection signal.
2. the aircraft rotational angle measuring method based on nuclear magnetic resonance according to claim 1, is characterized in that, described measuring method concrete steps are as follows:
First the cylindrical glass enclosed cavity of described aircraft rotational angle being measured to gyroscope nuclear magnetic resonance resonator cavity is evacuated to 10Pa, is then filled with two kinds of isotopes of identity element as operation material, as gyroscope tachometric survey carrier, be filled with again a kind of gaseous bases metallic element Rb and the buffer gas N that accounts for nuclear magnetic resonance intracavity gas total amount 1%
2, then glass enclosed cavity is sealed, along described glass enclosed cavity axially apply a main static magnetic field that intensity is controlled, two kinds of isotope materials of inert gas in glass enclosed cavity or Hg element are polarized in advance, then, along glass enclosed cavity, axially apply again a branch of circularly polarized laser being produced with pumping laser light source by described excitation, described circular polarization pumping laser frequency is corresponding to alkali-metal resonant frequency, so that there is significantly polarization in alkaline metal electron spin, and make two kinds of isotopic operation materials in glass enclosed cavity that remarkable polarization also occur by the collision effect between microscopic particle, impel the atomic nucleus of two kinds of isotopic operation materials respectively around externally-applied magnetic field, i.e. left-handed the and right-lateral movement of axially doing high speed of glass enclosed cavity, in order to detect the rotating speed as the nuclear spin of two kinds of isotopic operation materials of gyroscope tachometric survey carrier, on the axial direction perpendicular to glass enclosed cavity cavity, apply again another bundle by detect with pumping laser light source, produce with the circular polarization detection laser of excitation with circular polarization pumping laser same frequency, after the horizontal component of described circular polarization detection laser and two kinds of isotopic operation material spins interacts, at the photodiode output detections of glass enclosed cavity cavity opposite side, use the optical intensity modulation signal of the detection laser of pumping laser light source generation, the precession frequency signal that comprises two kinds of isotopic operation materials in described optical intensity modulation signal, the difference of the phase place of the signal in this optical intensity modulation signal and external reference frequency source is the rotational angle of aircraft,
Further record two kinds of isotope precession frequencies are subtracted each other, obtain total precession frequency of two kinds of isotopic operation materials and the relation of actual static magnetic field strength, total precession frequency of resulting two kinds of isotopic operation materials is directly proportional to actual static magnetic field strength; Then by total precession signal locking in an external reference frequency source signal, measure the isotopic precession signal phase of any one operation material of gained and be directly proportional to the difference of described external reference frequency source signal phase place and the real-time rotation phase of glass closed cavity.
3. according to the aircraft rotational angle measuring method based on nuclear magnetic resonance claimed in claim 2, it is characterized in that two kinds of isotopes that described operation material is mercury element
199hg and
201hg.
4. according to the aircraft rotational angle measuring method based on nuclear magnetic resonance claimed in claim 2, it is characterized in that, described operation material is two kinds of isotopes of inert gas xenon element
129xe and
131xe.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103913177A (en) * | 2014-03-28 | 2014-07-09 | 吉林大学 | Monitoring device for flying state of rotor craft |
| CN104266640A (en) * | 2014-10-14 | 2015-01-07 | 中国人民解放军国防科学技术大学 | NMRG (nuclear magnetic resonance gyro) signal enhancement method based on HySEOP (hybrid spin exchange optical pumping) |
| CN104296739A (en) * | 2014-10-30 | 2015-01-21 | 成都天奥电子股份有限公司 | Chip-level nuclear magnetic resonance atomic gyroscope gauge head |
| CN105403211A (en) * | 2015-10-30 | 2016-03-16 | 北京航天控制仪器研究所 | Closed-loop control system for nuclear magnetic resonance gyroscope of three working media |
| CN106595625A (en) * | 2016-11-15 | 2017-04-26 | 华中科技大学 | Method for measuring rotational angle frequency by means of molecular electric dipole moment procession |
| CN107422287A (en) * | 2017-04-21 | 2017-12-01 | 东南大学 | A kind of virtualization biscuit porcelain resonance signal synchronization motivationtheory and detection method and device |
| CN111060089A (en) * | 2018-10-17 | 2020-04-24 | 北京自动化控制设备研究所 | High-sensitivity nuclear spin precession detection method based on electronic spin magnetic resonance difference |
| CN112729269A (en) * | 2020-12-30 | 2021-04-30 | 中国人民解放军国防科技大学 | Working method for inhibiting alkali metal and rare gas atom coupling effect |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106595625A (en) * | 2016-11-15 | 2017-04-26 | 华中科技大学 | Method for measuring rotational angle frequency by means of molecular electric dipole moment procession |
| CN107422287A (en) * | 2017-04-21 | 2017-12-01 | 东南大学 | A kind of virtualization biscuit porcelain resonance signal synchronization motivationtheory and detection method and device |
| CN107422287B (en) * | 2017-04-21 | 2019-08-23 | 东南大学 | A kind of virtualization biscuit porcelain resonance signal synchronization motivationtheory and detection method and device |
| CN111060089A (en) * | 2018-10-17 | 2020-04-24 | 北京自动化控制设备研究所 | High-sensitivity nuclear spin precession detection method based on electronic spin magnetic resonance difference |
| CN111060089B (en) * | 2018-10-17 | 2022-07-15 | 北京自动化控制设备研究所 | High-sensitivity nuclear spin precession detection method based on electron spin magnetic resonance difference |
| CN112729269A (en) * | 2020-12-30 | 2021-04-30 | 中国人民解放军国防科技大学 | Working method for inhibiting alkali metal and rare gas atom coupling effect |
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Application publication date: 20140122 |