CN110411433B - Method for suppressing optical power error of atomic spin gyroscope based on magnetic field compensation - Google Patents
Method for suppressing optical power error of atomic spin gyroscope based on magnetic field compensation Download PDFInfo
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Abstract
The invention relates to a method for suppressing optical power error of an atomic spin gyroscope based on magnetic field compensation. The method comprises the steps of compensating and zeroing the three-dimensional magnetic field of the gyroscope in the working state, and changing the bias value B of the magnetic field applied to the X direction by using the sensitivity of the gyroscope to the magnetic field in the X directionxAnd the X-direction magnetic field compensation value when the total output bias of the gyroscope is zero is obtained, the working point of the gyroscope is adjusted to a gyroscope zero point from a gyroscope compensation point, and the output signal of the gyroscope is not sensitive to scale coefficient fluctuation caused by detection optical power change, so that the gyroscope angular rate measurement error caused by detection optical power fluctuation is completely inhibited, and the gyroscope stability is improved. Meanwhile, the method can not only enable the gyroscope to get rid of dependence on a detection light closed-loop control light path and a detection light closed-loop control circuit, reduce the complexity of the system and be beneficial to the miniaturization of the gyroscope, but also can be used as an atomic spin gyroscope closed-loop scheme.
Description
Technical Field
The invention relates to a method for suppressing optical power error of an atomic spin gyroscope based on magnetic field compensation, belongs to the field of atomic gyroscopes, and can also be used in the field of atomic magnetometers.
Background
The atomic Spin gyroscope based on Spin-Exchange Relaxation-Free (SERF) technology has the characteristics of high theoretical precision, small volume, low cost, small dynamic range and the like, and is suitable for a future platform type inertial navigation system. The zero bias stability is an important evaluation index of the gyroscope and directly determines the precision of the inertial navigation system. The SERF atomic spin gyroscope realizes the polarization of atoms through a beam of circularly polarized pumping light and realizes the detection of atomic spin precession signals through a beam of linearly polarized detection light. When the gyroscope works at a 'gyroscope compensation point', the output bias is not zero. At this time, since the gyro scale factor is proportional to the power of the detection light, the gyro output fluctuates due to the change in the power of the detection light. Therefore, in order to reduce the influence of the detection optical power variation on the zero offset stability, closed-loop control of the detection optical power is required.
In general, the closed-loop control for detecting optical power is to use a polarization beam splitter to split a small portion of light from a main optical path in a certain proportion and to enter a feedback detector, the detector converts the received optical power signal into a voltage signal in an equal proportion, and then the voltage signal is fed back to an electronic control unit to be compared with a set value, and the electronic control unit changes the optical power of the main optical path by adjusting a control signal applied to an actuator. However, the splitting ratio of the polarization splitting prism varies with temperature, so that the feedback signal cannot accurately represent the optical power of the main optical path. In addition, the performance of the electronic components in the feedback circuit may also vary with the ambient temperature, causing inaccuracy in the feedback signal. The above problems can cause that the detection optical power still fluctuates along with the environmental changes such as temperature and the like under the adjustment of closed-loop control, thereby causing the scale factor of the gyroscope to change and causing the zero offset stability of the gyroscope to be poor.
Disclosure of Invention
The invention solves the problems that: the method overcomes the defect that the detection light power closed-loop control precision of the conventional SERF atomic spin gyroscope is influenced by the change of the environmental temperature, and provides a detection light power error suppression method based on magnetic field compensation, so that the gyroscope can get rid of dependence on a detection light closed-loop control light path and a detection light closed-loop control circuit, the system complexity is reduced, the gyroscope is favorably miniaturized, and the method can be used as an atomic spin gyroscope closed-loop scheme.
The technical solution of the invention is as follows:
a method for restraining optical power error of an atomic spin gyroscope based on magnetic field compensation is characterized in that three-dimensional magnetic field compensation of the gyroscope in a working state is reset to zero, and then a magnetic field bias value B applied to the X direction is changed by utilizing the sensitivity characteristic of the gyroscope to a magnetic field in the X directionxAnd obtaining an X magnetic field compensation value which enables the total output bias of the gyroscope to be zero, adjusting the working point of the gyroscope from a gyroscope compensation point to a gyroscope zero point, wherein the output signal of the gyroscope is not sensitive to scale coefficient fluctuation caused by detection optical power change any more, and thus, the gyroscope angular rate measurement error caused by the detection optical power fluctuation is inhibited.
The implementation method comprises the following steps:
(1) heating an alkali metal gas chamber of a gyroscope to a working temperature, compensating a magnetic field by adopting a magnetic field cross modulation compensation method when the laser polarizes atoms to a stable state, and returning the three-dimensional magnetic field compensation to zero, wherein the gyroscope works at a gyroscope compensation point;
(2) magnetic field bias B changing the X directionxThe test records at different detection light power setting values I0Time gyro steady state bias signal VoutTo obtain a gyro steady-state bias signal VoutAnd detecting the optical power setting value I0The linear relationship between: vout＝K0I0+b0，K0Is a proportionality coefficient;
(3) in a different BxUnder bias, repeating step (2) and calculating corresponding BxProportional coefficient of time K0；
(4) According to difference BxCorresponding proportional coefficient K under bias0To obtain BxProportional coefficient K0Linear relationship between K0＝K1Bx+b1；
(5) Is calculated such that K0B0xThe bias value is obtained to obtain the X magnetic field compensation value which enables the gyro to work at the zero point of the gyro, and the gyro is stable at the momentThe state output is no longer sensitive to detect optical power changes.
In the step (1), the magnetic field cross modulation compensation method is realized by driving a three-dimensional magnetic field coil through a signal generator; firstly, applying square wave magnetic field modulation with peak value of 0.5nT to a Y direction by using a Y direction coil, and changing the driving voltage of a Z direction magnetic field coil to enable the steady state output difference value of the gyroscope to the Y direction modulation magnetic field to be 0, namely finding a Z direction magnetic field compensation point; secondly, keeping the Z-direction compensation magnetic field unchanged, applying square wave magnetic field modulation with the peak value of 0.5nT in the Z direction by using a Z-direction magnetic field coil, changing the driving voltage of a Y-direction magnetic field coil, enabling the steady-state output difference value of the gyroscope to the Z-direction modulation magnetic field to be 0, and finding a Y-direction magnetic field compensation point; and finally, applying a bias magnetic field by using a Z-direction magnetic field coil on the basis of the Z-direction compensation point, applying square wave magnetic field modulation with the peak value of 0.5nT in the Z direction, changing the driving voltage of the X-direction magnetic field coil, enabling the steady-state output difference of the gyroscope to the Z-direction modulation magnetic field to be 0, and finding the X-direction magnetic field compensation point.
In the step (2), a linear least square fitting method is adopted to obtain different BxUnder bias, the gyro outputs VoutAnd detecting the optical power I0The linear relationship of (c).
In the step (4), a linear least square fitting method is adopted to fit different BxOffset and corresponding proportionality coefficient K0A linear relationship therebetween.
The principle of the invention is as follows: the steady state output of an atomic gyroscope can be expressed as:
Vout＝KVI0θ+Voffset
wherein KVFor circuit-dependent voltage conversion factor, I0For detecting optical power, θ is the optical rotation angle of the detected light after passing through the alkali metal gas cell, VoffsetBiasing voltages for the circuitry. The optical rotation angle can be expressed as:
wherein, KθTo and examineThe photometric frequency and a constant related to a parameter of the gas cell,
is alkali metal electron polarizability, gammaeAnd gammanThe gyromagnetic ratio of electrons and nuclei respectively,
and
transverse relaxivity of electrons and nuclei, BnMagnetic field, omega, generated for nucleiyiFor angular rate input in the Y direction, ΩyeInputting the projection of the spin angular velocity of the earth in the Y direction for angular velocities other than the Y direction, BxiFor magnetic field input in the X direction, θrThe residual optical rotation angle is caused by optical path components such as an air chamber, a polaroid and the like. The gyro output signal can then be unfolded into
It can be seen that change BxiThe bias value of (2) can be set to 0 in the middle bracket, and the gyro output V is measured under static test conditionsoutNo longer detected optical power I0I.e. the zero bias of the gyro is no longer sensitive to detect optical power variations. That is, θ is made 0, i.e., when the bias magnetic field in the X direction
In the process, the proportionality coefficient of the gyro output and the detected light intensity is 0, and gyro drift caused by light intensity fluctuation can be completely inhibited. When the gyroscope is applied to an inertial navigation system based on a space stable platform, the method is also applicable because the platform tracks a certain inertial coordinate system and the angular rate sensitive to the gyroscope is constant. In addition, the operating point of the gyro can be closed-loop controlled at the "gyro zero point" by controlling the X direction and biasing the magnetic field.
Compared with the prior art, the invention has the advantages that: the control accuracy of the conventional detection optical power closed-loop control scheme is influenced by the change of the ambient temperature, and the realization of the conventional detection optical power closed-loop control scheme depends on a complex optical path and a complex circuit. The method of the present invention utilizes the sensitivity of gyroscope to its X-direction magnetic field and the method of applying X-direction magnetic field bias to regulate the operating point of gyroscope from "gyroscope compensation point" to "gyroscope zero point", at this time, the total output bias of gyroscope is zero, and the gyroscope output signal is no longer sensitive to the scale coefficient fluctuation caused by detecting optical power variation, so that the gyroscope angular rate measurement error caused by detecting optical power fluctuation can be completely inhibited, and the gyroscope stability can be raised. Meanwhile, the method can not only enable the gyroscope to get rid of dependence on a detection light closed-loop control light path and a detection light closed-loop control circuit, reduce the complexity of the system and be beneficial to the miniaturization of the gyroscope, but also can be used as an atomic spin gyroscope closed-loop scheme.
Drawings
FIG. 1 is a flow chart of the method for suppressing optical power of an atomic spin gyroscope based on magnetic field compensation according to the present invention;
FIG. 2 is a schematic diagram of an experimental system for detecting the optical power suppression method of the atomic spin gyroscope based on magnetic field compensation.
Detailed Description
A method for suppressing the optical power error of spinning gyroscope based on magnetic field compensation includes such steps as compensating the three-dimensional magnetic field in gyroscope to zero, and changing the bias value B of magnetic field applied to X direction by the sensitivity of gyroscope to the magnetic field in X directionxAnd obtaining an X magnetic field compensation value which enables the total output bias of the gyroscope to be zero, adjusting the working point of the gyroscope from a gyroscope compensation point to a gyroscope zero point, wherein the output signal of the gyroscope is not sensitive to scale coefficient fluctuation caused by detection optical power change any more, and thus, the gyroscope angular rate measurement error caused by the detection optical power fluctuation is inhibited.
As shown in fig. 1, it is a flowchart of the method for suppressing optical power of an atomic spin gyroscope based on magnetic field compensation according to the present invention.
The method specifically comprises the following implementation steps:
(1) heating an alkali metal gas chamber of the gyroscope to a working temperature, polarizing alkali metal electrons by using a beam of circularly polarized pumping light, polarizing inert gas nuclei by spin exchange of the alkali metal electrons, and compensating a magnetic field by using a magnetic field cross modulation compensation method when an atom is polarized to a stable state by using laser so as to enable the gyroscope to work at a gyroscope compensation point.
FIG. 2 is a schematic diagram of an experimental system of the present invention.
The alkali metal gas chamber 25 is installed inside the shield cylinder 24 and the three-dimensional magnetic field coil, and the three-dimensional magnetic field coil is composed of an X-direction magnetic field coil 10, a Y-direction magnetic field coil 9, and a Z-direction magnetic field coil 11; the light output by the pumping laser 26 passes through a power stabilizing system consisting of a linear polarizer 27, a power stabilizing actuator 28, an 1/2 slide 29, a polarization beam splitter prism 19, a photoelectric detector 18 and an electronic control unit 17, so that power closed-loop control is realized. Then converted into circularly polarized light with the spot diameter equal to that of the air chamber through the beam expanding lens group 20 and the 1/4 slide 21. The driving voltage in the three-dimensional magnetic field coil is controlled by a signal generator 8. The light output by the detection laser 1 passes through a power stabilizing system consisting of a linear polarizer 2, a power stabilizing actuator 3, an 1/2 slide 4, a polarization beam splitter prism 5, a photoelectric detector 23 and an electronic control unit 22, so that power closed-loop control and power setting are realized. Then the light is converted into linearly polarized light through a reflector 7 and a polaroid 6, passes through an alkali metal air chamber 25, then passes through a reflector 12 and an 1/2 slide 13 respectively, passes through a Wollaston prism 14, is divided into two beams of light, passes through a differential detector 15, and the differential detector outputs signals to a data recorder 16.
The magnetic field cross modulation compensation is achieved by driving a three-dimensional magnetic field coil by a signal generator 8. Firstly, applying square wave magnetic field modulation with peak value of 0.5nT to the Y direction by using a Y-direction coil 9, and changing the driving voltage of a Z-direction magnetic field coil 11 to ensure that the steady-state output difference value of the gyroscope to the Y-direction modulation magnetic field is 0, namely finding a Z-direction magnetic field compensation point; secondly, keeping the Z-direction compensation magnetic field unchanged, applying square wave magnetic field modulation with the peak value of 0.5nT in the Z direction by using a Z-direction magnetic field coil 11, changing the driving voltage of a Y-direction magnetic field coil 9, enabling the steady-state output difference value of the gyroscope to the Z-direction modulation magnetic field to be 0, and finding a Y-direction magnetic field compensation point; and finally, applying a bias magnetic field by using a Z-direction magnetic field coil 11 on the basis of the Z-direction compensation point, applying square wave magnetic field modulation with the peak value of 0.5nT in the Z direction, changing the driving voltage of the X-direction magnetic field coil 10, enabling the steady-state output difference of the gyroscope to the Z-direction modulation magnetic field to be 0, finding the X-direction magnetic field compensation point, and enabling the gyroscope to work at the 'gyroscope compensation point'.
(2) When the gyroscope works at a 'gyroscope compensation point', the magnetic field bias B in the X direction is changedxThe data recorder 16 tests and records the set value I of different detection light power0Time gyro steady state bias signal Vout(ii) a Then, a linear least square fitting method is adopted to obtain a gyro steady-state bias signal VoutAnd detecting the optical power setting value I0The linear relationship between: vout＝K0I0+b0Recording the proportionality coefficient K0；
(3) In a different BxUnder bias, repeating step (2) and calculating corresponding BxProportional coefficient of time K0(ii) a On the basis of the X-direction magnetic field compensation point, the bias drive voltage of the X-direction magnetic field coil 10 is changed, the detected light power set value and the gyro steady-state output signal are recorded with the data recorder 16 at each bias voltage, and the proportionality coefficient between the gyro signal and the detected light power set value is fitted with linear least squares.
(4) According to difference BxCorresponding proportionality coefficient K obtained under bias0Obtaining B by linear least square fittingxProportional coefficient K0Linear relationship between K0＝K1Bx+b1；
(5) Is calculated such that K0B0xAnd (4) obtaining an X magnetic field compensation value which enables the gyroscope to work at a gyroscope zero point through the bias value, wherein the steady-state output of the gyroscope is not sensitive to the detection optical power change.
Calculating K by using the linear relation obtained by fitting in (4)0When the X-direction magnetic field value is set at this point, the gyro output is no longer sensitive to detecting optical power variations.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (4)
1. A method for restraining optical power error of an atomic spin gyroscope based on magnetic field compensation is characterized in that three-dimensional magnetic field compensation of the gyroscope in a working state is reset to zero, and then a magnetic field bias value B applied to the X direction is changed by utilizing the sensitivity characteristic of the gyroscope to a magnetic field in the X directionxObtaining a magnetic field compensation value in the X direction when the total output bias of the gyroscope is zero, adjusting the working point of the gyroscope from a gyroscope compensation point to a gyroscope zero point, wherein the output signal of the gyroscope is not sensitive to scale coefficient fluctuation caused by detection optical power change, so that the gyroscope angular rate measurement error caused by the detection optical power fluctuation is inhibited;
the method comprises the following steps:
(1) heating an alkali metal gas chamber of a gyroscope to a working temperature, compensating a magnetic field by adopting a magnetic field cross modulation compensation method when the laser polarizes atoms to a stable state, and returning the three-dimensional magnetic field compensation to zero, wherein the gyroscope works at a gyroscope compensation point;
(2) magnetic field bias B changing the X directionxThe test records at different detection light power setting values I0Time gyro steady state bias signal VoutTo obtain VoutAnd I0The linear relationship between: vout＝K0I0+b0，K0Is a proportionality coefficient;
(3) in a different BxUnder bias, repeating step (2) and calculating corresponding BxWhen K is0；
(4) According to difference BxOffset by corresponding K0To obtain BxAnd K0Linear relationship between K0＝K1Bx+b1；
(5) Is calculated such that K0B0xAnd (4) obtaining an X-direction magnetic field compensation value which enables the gyroscope to work at a gyroscope zero point through the bias value, wherein the steady-state output of the gyroscope is not sensitive to the detection optical power change.
2. The optical power error suppression method for the atomic spin gyroscope based on magnetic field compensation according to claim 1, characterized in that: in the step (1), the magnetic field cross modulation compensation method is realized by driving a three-dimensional magnetic field coil through a signal generator; firstly, applying square wave magnetic field modulation with peak value of 0.5nT to a Y direction by using a Y direction coil, and changing the driving voltage of a Z direction magnetic field coil to enable the steady state output difference value of the gyroscope to the Y direction modulation magnetic field to be 0, namely finding a Z direction magnetic field compensation point; secondly, keeping the Z-direction compensation magnetic field unchanged, applying square wave magnetic field modulation with the peak value of 0.5nT in the Z direction by using a Z-direction magnetic field coil, changing the driving voltage of a Y-direction magnetic field coil, enabling the steady-state output difference value of the gyroscope to the Z-direction modulation magnetic field to be 0, and finding a Y-direction magnetic field compensation point; and finally, applying a bias magnetic field by using a Z-direction magnetic field coil on the basis of the Z-direction compensation point, applying square wave magnetic field modulation with the peak value of 0.5nT in the Z direction, changing the driving voltage of the X-direction magnetic field coil, enabling the steady-state output difference of the gyroscope to the Z-direction modulation magnetic field to be 0, and finding the X-direction magnetic field compensation point.
3. The optical power error suppression method for the atomic spin gyroscope based on magnetic field compensation according to claim 1, characterized in that: in the step (2), a linear least square fitting method is adopted to obtain different BxUnder bias, the gyro outputs VoutAnd detecting the optical power I0The linear relationship of (c).
4. The optical power error suppression method for the atomic spin gyroscope based on magnetic field compensation according to claim 1, characterized in that: in the step (4), a linear least square fitting method is adopted to fit different BxOffset and corresponding proportionality coefficient K0A linear relationship therebetween.
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| CN111856344B (en) * | 2020-07-16 | 2022-04-22 | 北京航空航天大学 | Method for inhibiting atomic spin inertia or magnetic field measurement error caused by temperature fluctuation |
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| CN112729298B (en) * | 2020-12-24 | 2023-01-10 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Multi-gyroscope atomic group position synchronous control method |
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| CN113532429B (en) * | 2021-06-30 | 2023-08-29 | 北京航空航天大学 | Air chamber temperature fluctuation error suppression method of atomic gyroscope |
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| CN114459454B (en) * | 2022-02-25 | 2023-11-03 | 北京航空航天大学 | LCVR-based SERF atomic spin gyro detection light intensity error suppression method |
| CN115265512B (en) * | 2022-07-28 | 2024-04-09 | 北京航空航天大学 | Rotation modulation method for SERF atomic spin gyroscope |
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