CN109298457B - Vibration noise correction compensation method suitable for atomic interference gravimeter - Google Patents
Vibration noise correction compensation method suitable for atomic interference gravimeter Download PDFInfo
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- CN109298457B CN109298457B CN201811413684.2A CN201811413684A CN109298457B CN 109298457 B CN109298457 B CN 109298457B CN 201811413684 A CN201811413684 A CN 201811413684A CN 109298457 B CN109298457 B CN 109298457B
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Abstract
The invention discloses a vibration noise correction compensation method suitable for an atomic interference gravimeter, which comprises the following steps: collecting vibration signals of three dimensions of a Raman light reflector; respectively carrying out preprocessing including denoising and distortion correction on the vibration signals of the three dimensions; correcting the coupling of the preprocessed vibration signals of the three dimensions to obtain a corrected phase shift caused by the vibration in the vertical direction; and deducting the phase shift caused by the corrected vibration in the vertical direction by utilizing the relationship between the vibration signals of three dimensions and the atomic population number signal of the gravimeter, which is recorded one by one in advance, so as to obtain the atomic population number signal of the gravimeter without vibration noise. By using the method, vibration noise is greatly eliminated, and the sensitivity and stability of gravity measurement are improved.
Description
Technical Field
The invention relates to the field of gravity measurement, in particular to a vibration noise correction and compensation method suitable for an atomic interference gravimeter.
Background
The atomic interference gravimeter can measure the absolute value of the gravity acceleration, has the advantages of high measurement frequency and high potential sensitivity compared with the traditional laser interference absolute gravimeter, and can be widely applied to the fields of inertial navigation, geophysical research, resource exploration and the like.
The atoms are trapped by laser cooling in an atom interference gravimeter, and the atoms with narrow-band velocity distribution are obtained after state preparation and speed selection. As shown in fig. 1, two raman lasers are combined and then act on a radical through a beam expanding collimator and a reflector, and the raman light 1 and the raman light 2 which is reflected by the reflector and propagates in opposite directions meet a two-photon resonance condition, so that the atoms can be accelerated and decelerated, and coherent manipulation such as beam splitting, reflection, beam combining and the like of the atoms is realized. The phase between raman light 1 and raman light 2 is locked if the wavevector of raman light 1 is
And the wave vector of the raman light 2 is
The equivalent wave vector felt by the atom is
The interference process of an atomic interferometer is shown in fig. 2, where atoms are operated coherently with three pulses of coherent raman light at time intervals T. During this interference, the phase of the atom changes to k due to gravityeffgT2The difference between the frequencies of the correlation Raman light is scanned at a specific speed α to compensate the Doppler frequency shift of free falling atoms, the population number of atoms on two ground state energy levels changes when the group atoms are coherently evolved in gravity under the operation of the Raman light, and the distribution number distribution N of the group atoms on the two ground state energy levels can be obtained by measuring the fluorescence signal of the atoms1And N2So as to calculate the transition probability P-N to the first ground state1/(N1+N2) The calculation formula is as follows:
p＝a+bcos((keffg-α)T2)
where a and b are fitting parameters, the value of g is usually obtained by fitting a sinusoidal curve with α as abscissa and transition probability P as ordinate by changing the value of scanning frequency rate α.
In the raman optical interference process, there are many noise interferences affecting the contrast and stability of the atomic arrangement number P measurement, and the actual interference curve can be expressed as:
P＝a+bcos((keffg-α)T2+ΔΦnoise),
among them, vibration noise is the most dominant noise source.
How the vibration affects the gravity measurement is explained below with reference to fig. 1 and 2. Although Raman light 1 and Raman light 2 are simultaneously collimated from the beam expander collimatorHowever, since the raman light 2 is reflected by the mirror and acts on the atoms in opposition to the raman light 1, an extra phase Δ Φ is generated when the raman light mirror vibrateszIntroduced into the interaction of atoms with light.
Phase shift Δ Φ due to vibrationzIs unknown, noise is introduced into the fit causing a reduction in the sensitivity of the measurement of g values, whereas if measured and calculated Δ ΦzThe influence caused by vibration can be removed, so that the measurement sensitivity of the gravimeter is improved.
However, active and effective suppression of vibration noise is very cumbersome and difficult, and increases the complexity and volume of the device, and no effective solution is available at present.
Disclosure of Invention
The invention aims to provide a vibration noise correction and compensation method suitable for an atomic interference gravimeter, which greatly eliminates vibration noise and improves the sensitivity and stability of gravity measurement.
The purpose of the invention is realized by the following technical scheme:
a vibration noise correction compensation method suitable for an atomic interference gravimeter comprises the following steps:
collecting vibration signals of three dimensions of a Raman light reflector;
respectively carrying out preprocessing including denoising and distortion correction on the vibration signals of the three dimensions;
correcting the coupling of the preprocessed vibration signals of the three dimensions to obtain a corrected phase shift caused by the vibration in the vertical direction;
and deducting the phase shift caused by the corrected vibration in the vertical direction by utilizing the relationship between the vibration signals of three dimensions and the atomic population number signal of the gravimeter, which is recorded one by one in advance, so as to obtain the atomic population number signal of the gravimeter without vibration noise.
According to the technical scheme provided by the invention, the vibration signals of the Raman light reflector in three dimensions are measured and comprehensively processed to obtain more accurate phase shift caused by vibration of the gravimeter, and the more accurate measurement result is obtained by deducting vibration noise by using the phase shift.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a Raman optical diagram of an atomic gravimeter according to the background of the present invention;
FIG. 2 is a schematic diagram of an atomic gravimeter interference process provided in the background of the invention;
FIG. 3 is a schematic diagram of a vibration noise correction compensation method for an atomic interference gravimeter according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an angle formed by a measurement axis of a vibration measurement module according to an embodiment of the present invention when the measurement axis is not aligned with a gravity direction.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a vibration noise correction compensation method suitable for an atomic interference gravimeter, which comprehensively processes measured vibration signals of three dimensions of a Raman light reflector so as to obtain more accurate phase shift caused by vibration of the gravimeter, and obtains a more accurate measurement result after vibration noise is deducted by using the phase shift.
In a gravimeter probe, laser is used for cooling and trapping atoms, atoms with narrow-band speed distribution are obtained after state preparation and speed selection, three-time correlation Raman light pulses with the time interval of T are used for carrying out coherent operation on the atoms, then the internal state where the atoms are located is detected, an atom population number signal is obtained and is transmitted into a signal acquisition and processing module, a vibration signal is recorded during the coherent operation on the atoms, the vibration signal is also transmitted into the signal acquisition and processing module, the vibration noise of the gravimeter is processed and subtracted in the signal acquisition and processing module, and finally the g value of the gravity acceleration is output.
In the signal acquisition and processing process, four steps of processing are performed to remove vibration noise so as to improve the measurement sensitivity of the gravimeter, and the processing process is described in detail below with reference to fig. 3. As shown in fig. 3, the main process includes:
step one, collecting vibration signals of three dimensions of a Raman light reflector.
In the embodiment of the present invention, the three-dimensional vibration signals include: the Raman reflector has vibration signals of three dimensions including a vertical direction and two orthogonal horizontal directions. The acquisition time period of the vibration signals of the three dimensions corresponds to the Raman interference process, and is acquired for a plurality of milliseconds before and after the Raman interference so as to contain the whole interference time period. And simultaneously, recording the vibration signals of the three dimensions and the atomic population number signals of the gravimeter one by one when acquiring the vibration signals of the three dimensions, so that the vibration signals of the three dimensions and the atomic population number signals of the gravimeter correspond to the same time sequence cycle.
The vibration signal obtained by collection is recorded as
Where i is 1,2,3, … represents the ith timing cycle, r is 1,2,3, …, n represents the r-th recorded vibration signal recorded in the ith timing cycle, and the subscripts x, y, z in turn represent two orthogonal horizontal and one vertical output signals of the vibration measurement module. And the atomic population signal obtained in the corresponding interferometer time sequence cycle is
And
thereby calculating to the 1 stThe probability of transition of the ground state is
Where i is 1,2,3, … represents the ith timing cycle.
And step two, respectively carrying out preprocessing including denoising and distortion correction on the vibration signals of the three dimensions.
The pretreatment in the step comprises the following steps: removing high-frequency noise components of the vibration signals of three dimensions, and correcting phase frequency and amplitude frequency distortion caused by the limited bandwidth of the vibration measurement module; wherein:
1. high-frequency noise components of the vibration signal in three dimensions are removed.
And removing high-frequency noise components of the vibration signals of the three dimensions in the first step by using discrete Fourier transform and inverse discrete Fourier transform.
For the vibration signal of any dimension, firstly, the vibration signal is transformed from a time domain to a frequency domain by utilizing discrete Fourier transform, and then, the inverse discrete Fourier transform is applied to the vibration signal of the frequency domain to obtain the vibration signal of which the high-frequency noise component is removed in the time domain. For ease of understanding, this manner of implementation is given below by way of example, it being emphasized that the following does not constitute a limitation on the manner of implementation.
Where s is 1,2,3, …, n represents the s-th recorded vibration signal value recorded in the i-th timing cycle when s is<At R time rhosWhen s is equal to 1>At R time rhosR is 0 for adjusting a specific cut-off frequency, and a high-frequency signal above the frequency is noise to be removed
I.e. the signal after removing the high frequency noise, wherein β ═ x, y, z, in turn represents two orthogonal horizontal and one vertical output signals of the vibration measurement module, and i ═ 1,2,3, … represents the ith timing cycle.
2. And correcting phase frequency and amplitude frequency distortion caused by the limited bandwidth of the vibration measurement module.
The bandwidth of the vibration measurement module is not infinite, and in a frequency band exceeding the bandwidth of the vibration measurement module, a phase frequency curve and an amplitude frequency curve of the vibration measurement module deviate from a real vibration signal, and in order to remove phase frequency distortion and amplitude frequency distortion of the vibration measurement module, the phase frequency curve and the amplitude frequency curve of the vibration signal obtained through measurement need to be corrected.
In the embodiment of the invention, a first-order phase compensation filter is used for phase-frequency distortion correction, and then a filter which only changes an amplitude-frequency curve and does not change the phase-frequency curve is used for amplitude-frequency distortion correction. The filter which only changes the amplitude-frequency curve and does not change the phase-frequency curve comprises: two low-pass filters; the vibration signal without the high-frequency noise component passes through a first low-pass filter, and then passes through a second low-pass filter after the reverse sequence.
The relevant modifications are given below by way of example:
1) removing high-frequency noise component from the obtained sequence
(i.e., u in the first formula below)1(n)) the time domain formula of the phase compensation filter by:
2) passing the resulting output sequence through a time domain equation of a low pass filter:
3) the resulting output sequence is passed through a time domain equation of a low pass filter as follows:
wherein, ω is1And omega0For two cut-off angular frequencies, omega, of the phase compensation filtercThe cut-off angular frequency of the low-pass filter, Δ t the time interval of sampling the vibration signal, u1(N), N is 2,3, …, N represents the input digital signal sequence; and u4(N), N is 2,3, …, N represents the output digital signal sequence, where N is the sequence u1(n) length.
The first pass through the phase compensation filter corrects back the phase shift of the vibration signal, and the subsequent two passes through the low pass filter with a sequence inversion in between are intended to constitute a non-causal filter that only changes the amplitude, and does not change the phase, corrects back the amplitude of the higher band signal. Vibration signal sequence u obtained after passing through filter4(n) is
The indices of which correspond to the meanings given above.
And step three, correcting the coupling of the preprocessed vibration signals of the three dimensions to obtain the corrected phase shift caused by the vibration in the vertical direction.
1. The phase shifts due to vibrations in the vertical direction and in two orthogonal horizontal directions are calculated separately.
The vibration of the Raman light reflector causes the phase jitter of Raman light to influence the atomic population number signal of the gravimeter, and the phase jitter of the Raman light is further calculated through the integral displacement of the vibration signal, so that the phase shift caused by the vibration of the gravimeter is calculated.
And calculating the phase shift caused by the vibration of the three-component gravimeter by using the signals processed in the second step. Referring to FIG. 3, the interference process of the atomic interference gravimeter is assumed to be the nth light collected during the first correlation Raman light0The vibration signal is acquired during the second correlation Raman lightCollected is the n-th1＝n0+[T/Δt]A vibration signal, wherein]Indicating rounding, and the nth time of the Raman light2＝n0+2[T/Δt]A vibration signal
The calculation formula of the phase shift caused by the vibration in the vertical direction is as follows:
wherein Z (0) is the displacement of the mirror at the time of first correlation of the Raman optical pulse, Z (T) is the displacement of the mirror at the time of second correlation of the Raman optical pulse, Z (2T) is the displacement of the mirror at the time of third correlation of the Raman optical pulse,
is a phase shift, k, caused by the vibration signaleffIs the equivalent wave vector felt by the atom.
The phase shift caused by vibration in two horizontal directions can be calculated by the same formula:
wherein, i is 1,2,3, … all represent the ith timing cycle.
2. The following two aspects of coupling correction are performed.
1) Removal of crosstalk coupling introduced by the vibration measurement module.
Since there is a certain crosstalk between the horizontal signal and the vertical signal of the vibration measurement module, which results in a certain horizontal component in the vertical direction of the phase shift caused by the vibration, the phase shift caused by the vibration in the vertical direction is subtracted by a certain proportion of the phase shifts caused by the vibration in two orthogonal horizontal directions, so as to obtain the vibration-caused phase shift in the vertical direction with crosstalk coupling removed.
The above process is represented as:
in the above formula, kxAnd k isyRepresenting the coupling coefficient of the two components of the level.
2) And removing coupling caused by the fact that the vertical measuring axis of the vibration measuring module is not coincident with the true vertical direction.
Because the measuring axis of the vibration measuring module is not necessarily completely coincident with the gravity direction, a coordinate transformation relation exists between the phase shift caused by the vibration of the three dimensions obtained by measurement and the phase shift caused by the real vibration of the three dimensions, and therefore the phase shift caused by the vibration of the three dimensions is utilized to carry out coordinate transformation to obtain the phase shift caused by the vibration of the actual vertical direction.
As will be further explained below in conjunction with figure 4,
coinciding with x, y, z in fig. 4, respectively. In fig. 4, x, y and z represent two orthogonal horizontal and vertical measuring axes of the vibration measuring module, respectively, V in fig. 4 represents a gravity axis, and θ and φ represent two deflection angles generated by misalignment of the measuring axes and the gravity direction, respectively
The correction formula can be obtained by projecting to the V-axis direction:
in the above formula, the first and second carbon atoms are,
indicating the phase shift caused by the corrected vertical vibration.
And step four, deducting the phase shift caused by the corrected vibration in the vertical direction by utilizing the relationship between the vibration signals of three dimensions and the atomic population number signals of the gravimeter, which is recorded one by one in advance, so as to obtain the atomic population number signals of the gravimeter without vibration noise.
Gravimeter settlement signal PiAnd the product obtained in the third step
The following relationships are provided:
wherein a is the offset value of the interference fringe, b is the amplitude of the interference fringe, and T is the time interval of two adjacent Raman light pulses in the atomic interference gravimeter. Using this relationship, the vibration induced gravimeter phase shift can be introduced
Removed to obtain atomic interference gravimeter population signal P without vibration noisei(real)Thereby improving the measurement sensitivity of the atomic interferometer. The method can effectively compensate and remove the influence of vibration noise on the Raman optical phase, and improves the gravity measurement sensitivity of the atomic gravimeter and the adaptability of the application environment.
Through the above description of the embodiments, it is clear to those skilled in the art that the above embodiments can be implemented by software, and can also be implemented by software plus a necessary general hardware platform. With this understanding, the technical solutions of the embodiments can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods according to the embodiments of the present invention.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A vibration noise correction compensation method suitable for an atomic interference gravimeter is characterized by comprising the following steps:
collecting vibration signals of three dimensions of a Raman light reflector; the three dimensional vibration signals include: vibration signals of three dimensions including a vertical direction and two orthogonal horizontal directions of the Raman light reflector;
respectively carrying out preprocessing including denoising and distortion correction on the vibration signals of the three dimensions;
correcting the coupling of the preprocessed vibration signals of the three dimensions to obtain a corrected phase shift caused by the vibration in the vertical direction;
deducting the phase shift caused by the corrected vibration in the vertical direction by utilizing the relationship between the vibration signals of three dimensions and the atomic population number signals of the gravimeter, which are recorded one by one in advance, so as to obtain the atomic population number signals of the gravimeter without vibration noise;
wherein the modifying the coupling of the preprocessed vibration signals of the three dimensions to obtain the modified phase shift caused by the vibration in the vertical direction comprises:
firstly, phase shifts caused by vibration signals in the vertical direction and two orthogonal horizontal directions are calculated respectively;
then, the following two aspects of coupling correction are carried out:
removal of crosstalk coupling introduced by the vibration measurement module: subtracting a certain proportion of phase shift caused by the vibration in two orthogonal horizontal directions from the phase shift caused by the vibration in the vertical direction to obtain the vibration-caused phase shift in the vertical direction for removing crosstalk coupling;
removing coupling caused by misalignment of the vertical measuring axis of the vibration measuring module and the true vertical direction: and performing coordinate transformation by using the phase shift caused by the vibration of three dimensions to obtain the phase shift caused by the vibration in the actual vertical direction.
2. The vibration noise correction compensation method for the atomic interference gravimeter according to claim 1, wherein the three-dimensional vibration signals are collected for a period corresponding to the raman interference process, and are collected for several milliseconds before and after the raman interference process to cover the whole interference period.
3. The method according to claim 1, wherein the three-dimensional vibration signals and the gravimeter atomic population signals are recorded one by one when the three-dimensional vibration signals are collected, so that the three-dimensional vibration signals and the gravimeter atomic population signals correspond to the same time sequence cycle.
4. The method of claim 1, wherein the preprocessing the three-dimensional vibration signals respectively including denoising and distortion correction comprises: and removing high-frequency noise components of the vibration signals in three dimensions, and correcting phase frequency and amplitude frequency distortion caused by the limited bandwidth of the vibration measurement module.
5. The vibration noise correction compensation method for the atomic interference gravimeter according to claim 4, wherein the removing the high-frequency noise components of the vibration signals with three dimensions includes: for the vibration signal of any dimension, firstly, the vibration signal is transformed from a time domain to a frequency domain by utilizing discrete Fourier transform, and then, the inverse discrete Fourier transform is applied to the vibration signal of the frequency domain to obtain the vibration signal of which the high-frequency noise component is removed in the time domain.
6. The vibration noise correction compensation method for the atomic interference gravimeter according to claim 4 or 5, wherein the correction of the phase-frequency and amplitude-frequency distortion caused by the bandwidth limitation of the vibration measurement module comprises:
and performing phase-frequency distortion correction by using a first-order phase compensation filter, and then performing amplitude-frequency distortion correction by using a filter which only changes an amplitude-frequency curve and does not change the phase-frequency curve.
7. The vibration noise correction compensation method for atomic interference gravimeter according to claim 6, wherein the filter changing only the amplitude-frequency curve and not the phase-frequency curve comprises: two low-pass filters; the vibration signal without the high-frequency noise component passes through a first low-pass filter, and then passes through a second low-pass filter after the reverse sequence.
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| CN111610572B (en) * | 2020-05-09 | 2021-02-26 | 中国人民解放军军事科学院国防科技创新研究院 | Atomic interference gravimeter wavefront phase shift rapid evaluation method and system |
| CN111679334A (en) * | 2020-06-19 | 2020-09-18 | 中国地震局地震预测研究所 | Absolute gravitational acceleration compensation method and device |
| CN111912535B (en) * | 2020-08-03 | 2021-06-04 | 中国人民解放军国防科技大学 | Raman optical phase noise testing method and system based on cold atom interference |
| CN112835114B (en) * | 2021-01-08 | 2022-06-07 | 中国船舶重工集团公司第七0七研究所 | Cold atom interference gravimeter Raman light output device with real-time vibration compensation function |
| CN112925035B (en) * | 2021-03-16 | 2021-10-26 | 哈尔滨工业大学 | Dynamic cold atom gravimeter scheme without vibration reduction platform |
| CN113219546B (en) * | 2021-04-26 | 2022-02-22 | 中国人民解放军军事科学院国防科技创新研究院 | Vibration noise compensation method and device for miniaturized atomic interference gravimeter based on piezoelectric deflection mirror |
| CN113219545B (en) * | 2021-04-26 | 2022-01-14 | 中国人民解放军军事科学院国防科技创新研究院 | Double compensation method and device for vibration noise and wavefront distortion error of atomic interference gravimeter |
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Application publication date: 20190201 Assignee: QUANTUMCTEK Co.,Ltd. Assignor: University of Science and Technology of China Contract record no.: X2021340000028 Denomination of invention: Vibration and noise correction and compensation method for atomic interference gravimeter Granted publication date: 20200512 License type: Common License Record date: 20211026 |