CN110850497A - Absolute gravimeter based on atomic interference effect, gyroscope sensor and method - Google Patents
Absolute gravimeter based on atomic interference effect, gyroscope sensor and method Download PDFInfo
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Abstract
The invention relates to an absolute gravimeter and gyroscope integrated sensor based on atomic interference effect, which comprises a vacuum unit, a first detection unit, a second detection unit and an optical unit, wherein the vacuum unit, the first detection unit, the second detection unit and the optical unit are arranged in a magnetic shielding unit. The invention relates to an absolute gravimeter and gyroscope integrated sensing method based on atomic interference effect, which comprises the following steps: sensing angular velocity information and acceleration information by measuring a transverse atom interference phase difference; absolute gravitational acceleration information is sensed by measuring atomic interference phase information in the vertical direction. The invention can realize the extraction of the absolute gravity acceleration information, the single-axis rotation information and the acceleration information of a single cavity, greatly reduces the volume and the size of the sensor, has simple structure and is convenient to realize the atomic inertia measurement sensor device for the inertial navigation system.
Description
Technical Field
The invention belongs to the field of inertial navigation, and particularly relates to an absolute gravimeter, a gyroscope sensor and a method based on an atomic interference effect.
Background
From early verification in 1990, the atomic interferometer is proved to be an inertial sensor with ultrahigh sensitivity and excellent performance, and is widely applied to basic physical experiments and scientific exploration, the current atomic interference absolute gravimeter has the measurement precision of 10-9g, the zero-offset stability of the atomic interference gyroscope can reach 7 multiplied by 10 < -5 >/h, the measurement resolution of the atomic accelerometer is 10-11g, and the atomic interferometer has very wide application prospects in the aspects of inertial navigation and gravity-assisted navigation.
An inertial navigation system focuses on rotation information, acceleration information and gravitational field information, a traditional cold atom interference inertial measurement technology generally distinguishes a cold atom absolute gravimeter from a cold atom gyroscope, and an independent vacuum structure, an electric control system and a laser system are adopted to respectively measure gravity acceleration information and gyroscope information.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an absolute gravimeter and gyroscope integrated sensor integrating the functions of a cold atom gravimeter and a cold atom gyroscope and based on an atomic interference effect, which can measure absolute gravity information, rotation information and acceleration information.
The technical problem to be solved by the invention is realized by the following technical scheme:
the absolute gravimeter and gyroscope integrated sensor based on the atomic interference effect is characterized in that: comprises a vacuum unit (10) installed in a magnetic shielding unit (80), a first detection unit (41), a second detection unit (42) and an optical unit (90), wherein:
the vacuum unit (10) is a cross-shaped totally-enclosed transparent container, a cavity which is penetrated through in a cross manner is arranged in the vacuum unit, the cavity comprises a cavity in the y direction and a cavity in the x direction, the cavity in the y direction is consistent with the direction of gravity, a left three-dimensional magneto-optical trap (11), a right three-dimensional magneto-optical trap (12) and a middle three-dimensional magneto-optical trap (13) are arranged in the cavity in the x direction at equal intervals, the middle magneto-optical trap (13) is positioned on the intersection point of the cavities in the x direction and the y direction, a transverse interference region (70) is positioned between the left magneto-optical trap (11) and the right magneto-optical trap (12), and the cavity in the y direction is provided with a third magneto-optical trap (13);
the first detection unit (41) and the second detection unit (42) are fluorescence collection devices; the first detection units (41) are positioned at two ends of the horizontal cavity and used for collecting rotation measurement information, and the second detection units (42) are positioned on the same horizontal plane of the detection area (61) and used for collecting gravity acceleration information;
the magnetic shielding unit (80) is made of a high-permeability material;
the optical unit (90) is provided by an external laser beam emitter, performs power distribution and frequency control through an optical light splitting device, and transmits the power distribution and frequency control to the vacuum unit (10) through a free space optical path or optical fiber equipment to form laser beams of a left three-dimensional magneto-optical trap (11), a right three-dimensional magneto-optical trap (12) and a middle three-dimensional magneto-optical trap (13);
the left three-dimensional magneto-optical trap (11) consists of 45-degree oblique beams (20a), (20b), (21a) and (21b) of laser beams, a horizontal beam (24) of the magneto-optical trap and a gradient coil (1401); the right three-dimensional magneto-optical trap (12) consists of 45-degree oblique light beams (22a), (22b), (23a) and (23b), a magneto-optical trap horizontal light beam (25) and a gradient coil (1402); the middle three-dimensional magneto-optical trap (13) consists of 45-degree oblique beams (26) and (27), a magneto-optical trap horizontal beam (29), a laser beam reflected by a 0-degree retroreflector (30) and a gradient coil (15);
the optical unit (90) provides a vertical Raman incident beam (28a), a vertical Raman backward beam (28b), transverse Raman beams (28c) and (28d), detection light split by the detection light beam splitter (40), and horizontal beams (24) and (25) of the magneto-optical trap are multiplexed into horizontal detection light.
When the device is used for rotation measurement, the magneto-optical trap horizontal light beam (24) of the left three-dimensional magneto-optical trap (11) and the magneto-optical trap horizontal light beam (25) of the right three-dimensional magneto-optical trap (12) emit cooling light in an atom capturing stage, and emit detection light in an interference stage; the laser beam (29) emits raman light; and a horizontal beam (29) of the magneto-optical trap of the middle three-dimensional magneto-optical trap (13) emits cooling light when the absolute gravity acceleration information is measured.
An absolute gravimeter and gyroscope integrated sensing method based on atomic interference effect comprises the following steps:
1) sensing angular velocity information and acceleration information by measuring transverse atomic interference phase differences:
when acceleration in the x direction and rotation information in the y direction are measured, the magneto-optical trap (13) is closed, two groups of atoms are captured by the magneto-optical traps (11) and (12) respectively, the frequency difference of 45-degree oblique light beams (20a, 20b) and 45-degree oblique light beams (21a, 21b) of the left three-dimensional magneto-optical trap (11) is changed, and the ejection of the atom groups in the x direction is realized; changing the frequency difference between 45-degree oblique beams (22a) and (22b) of the right three-dimensional magneto-optical trap (12) and laser beams (23a) and (23b) to realize the ejection of the atomic group in the-x direction; two groups of atoms respectively pass through three Raman laser sequences in space: the transverse Raman light beam (28c), the transverse Raman light beam (28d) and the magneto-optical trap horizontal light beam (29) are used for realizing splitting, beam combination and inversion of atomic groups, forming a Mach-Zehnder interferometer configuration and forming two interference loops; after the interference is finished, a magneto-optical trap horizontal beam (24) of the left three-dimensional magneto-optical trap (11) and a magneto-optical trap horizontal beam (25) of the right three-dimensional magneto-optical trap (12) move through the frequency of the frequency shift device, cooling light forms detection light, and fluorescence information of atomic interference is obtained by a first detection device (41) respectively;
2) by measuring atomic interference phase information in the vertical direction, absolute gravitational acceleration information is sensitive:
when absolute gravity measurement is carried out, the left three-dimensional magneto-optical trap (11) and the right three-dimensional magneto-optical trap (12) are closed, the transverse Raman light beams (28c) and (28d) are closed, atoms are captured in the middle three-dimensional magneto-optical trap (13), the middle magneto-optical trap (13) is composed of cooled 45-degree oblique light beams (26) and (27), a magneto-optical trap horizontal light beam (29), a retro-reflector (30) and a gradient coil (15), and the Raman light is composed of a vertical Raman incident light beam (28a) and a vertical Raman incident light backward light beam (28b) formed by the retro-reflector (32);
in the atom free falling process, a microwave antenna (50), a vertical Raman incident beam (28a) and a vertical Raman incident reverse beam (28b) are used for completing the atom state selection process;
and (2) acting pi/2-pi/2 pulse sequences of a vertical Raman incident light beam (28a) and a vertical Raman incident light backward light beam (28b) at different moments in an interference region (60) to form a Mach-Zehnder interferometer configuration, then acting detection light to obtain the atomic number distribution of a quantum state F-2, an mf-0 and a quantum state F-1, and an mf-0, and obtaining interference phase information by scanning the frequency chirp rate of the Raman light, wherein the detection light forms a standing wave detection light field by a light splitting device (40) and a retroreflector (31).
After a first beam of cooling light emitted by the optical unit (90) passes through a switch, the first beam of cooling light is divided into four beams of cooling light with equal power through an optical light splitting device and a frequency shift device: 45-degree oblique light beams (20a), (20b), (22a), (22 b); after the second beam of cooling light passes through the switch, the second beam of cooling light is divided into four beams of cooling light with equal power through the optical light splitting device and the frequency shifting device: 45-degree oblique light beams (21a), (21b), (23a), (23b), and whether the laser light beams (21a), (21b), (23a), (23b) emit Raman light beams or not is controlled by a switch. The power of the first beam of cooling light and the power of the second beam of cooling light are equal, and the frequency of the first beam of cooling light and the frequency of the second beam of cooling light can be changed through a frequency shift device (an acousto-optic crystal, an electro-optic crystal and the like).
Moreover, the switch is a mechanical switch or an acousto-optic crystal; the optical beam splitter is a wave plate and a polarization beam splitter, and the frequency shift device is an acousto-optic crystal and an electro-optic crystal.
The invention has the advantages and beneficial effects that:
1. the absolute gravimeter and gyroscope integrated sensor based on the atomic interference effect realizes the extraction of absolute gravity acceleration information, single-axis rotation information and acceleration information of a single cavity by designing a cross-shaped vacuum cavity structure and multiplexing a vacuum structure, an electric control system, a laser system and the like, greatly reduces the volume and the size of the sensor, has a simple structure, and is convenient for realizing an atomic inertia measurement sensor device for an inertial navigation system.
2. The absolute gravimeter and gyroscope integrated sensor based on the atomic interference effect adopts a single physical device to realize the measurement of a plurality of inertia parameters (absolute gravitational acceleration, one-dimensional rotation and acceleration), has simple structural units, and is beneficial to miniaturization and engineering design. The method is suitable for the inertial navigation system.
3. According to the absolute gravimeter and gyroscope integrated sensor based on the atomic interference effect, when absolute gravity acceleration measurement is carried out, the transverse Raman optical sequence can be closed, atoms thrown by the magneto-optical traps on the left side and the right side can be captured by the middle magneto-optical trap, the capture time is shortened, the single measurement time is shortened, and the measurement bandwidth is improved.
4. The absolute gravimeter and gyroscope integrated sensor based on the atomic interference effect sensitively measures high-precision absolute gravity acceleration information and can also be applied to the fields of resource exploration, geophysical, earthquake monitoring and the like.
Drawings
FIG. 1 is a structural arrangement of the present invention
FIG. 2 is a schematic diagram of the gyroscope principle of the present invention;
FIG. 3 is a schematic view of the structure of the fluorescence collection device of the present invention;
FIG. 4 is a schematic diagram of cold atom interference according to the present invention;
FIG. 5 is a schematic diagram of the two-state atom detection of the present invention;
in the figure:
10-a vacuum unit;
11-left three-dimensional magneto-optical trap;
12-right three-dimensional magneto-optical trap;
13-middle three-dimensional magneto-optical trap;
1401-left three-dimensional magneto-optical trap gradient coil;
1402-right three-dimensional magneto-optical trap gradient coil;
15-an intermediate magneto-optical trap coil;
16-bias magnetic field coil;
20-three-dimensional magneto-optical trap beam; 20a-45 degree oblique light beam 1; 20b-45 degree oblique light beam 2;
21-a three-dimensional magneto-optical trap beam; 21a-45 degree oblique light beam 3; 21b-45 degree oblique light beam 4;
22-a three-dimensional magneto-optical trap beam; 22a-45 degree oblique light beam 5; 22b-45 degree oblique light beam 6;
23-a three-dimensional magneto-optical trap beam; 23a-45 degree oblique light beam 7; 23b-45 degree oblique light beam 8;
24-magneto-optical trap horizontal beam 1;
25-horizontal beam 2 of magneto-optical trap;
the oblique light beam 9 of 26-45 degrees;
the 27-45 degree oblique light beam 10;
28-Raman beam; 28 a-vertical raman light incident beam; 28 b-vertical Raman backward reflected beam; 28 c-transverse Raman Beam 1; 28 transverse raman beam 2;
29-horizontal beam of magneto-optical trap;
a 30-0 degree retroreflector;
a 31-0 degree retroreflector;
a 32-0 degree retroreflector;
40-a detection beam splitter;
401-fiber collimator;
402-50:50 laser power beam splitter;
403-a right angle reflector;
404-Probe light 1;
405-probe light 2;
406-a shade bar;
41-a first detection unit;
410-a photoelectric converter;
411-fluorescence collection lens combination;
42-a second detection unit;
50-a microwave antenna;
60-vertical (y-direction) interference zone;
70-transverse (x-direction) to the interference zone;
80-magnetic shield unit;
90-optical flat.
Detailed Description
The present invention is further illustrated by the following specific examples, which are intended to be illustrative, not limiting and are not intended to limit the scope of the invention.
An absolute gravimeter, gyroscope integrated sensor based on atomic interference effect, as shown in fig. 1, which comprises a vacuum unit (10) installed in a magnetic shielding unit (80), a first detecting unit (41), a second detecting unit (42) and an optical unit (90), wherein:
the vacuum unit (10) is a cross-shaped totally-enclosed transparent container, is a totally-enclosed container made of a full glass material or containing a glass window sheet, and is internally provided with a cavity which is penetrated through in a cross shape and comprises a cavity in the Y direction and a cavity in the X direction, the cavity in the Y direction is consistent with the direction of gravity, a left three-dimensional magneto-optical trap (11), a right three-dimensional magneto-optical trap (12) and a middle three-dimensional magneto-optical trap (13) are arranged in the X direction at equal intervals, wherein the center of the middle three-dimensional magneto-optical trap (13) is positioned on the intersection point of the cavity in the X direction and the cavity in the Y direction, a transverse interference region (70) is positioned between the left three-dimensional magneto-optical trap (11) and the right three-dimensional magneto-optical trap (12), and the cavity in the Y direction is;
the first detection unit (41) is an x-direction fluorescence collection device, and the second detection unit (42) is a fluorescence collection device; the first detection unit (41) x-direction fluorescence collection device is positioned at two ends of the horizontal cavity and used for collecting rotation measurement information, and the second detection unit (42) x-direction fluorescence collection device is positioned on the same horizontal plane with the detection area (61) and used for collecting gravity acceleration information;
the magnetic shielding unit (80) is made of a high magnetic permeability material;
the optical unit (90) is provided by an external laser beam emitter, performs power distribution and frequency control through an optical light splitting device, and transmits the power distribution and frequency control to the vacuum unit (10) through a free space optical path or optical fiber equipment to form laser beams of a left three-dimensional magneto-optical trap (11), a right three-dimensional magneto-optical trap (12) and a middle three-dimensional magneto-optical trap (13); the optical unit (90) provides a vertical Raman light incident beam (28a), a vertical Raman backward reflected beam (28b), probe light split by the probe light splitter (40), and a first magneto-optical trap horizontal beam (24) and a second magneto-optical trap horizontal beam (25) multiplexed into the horizontal probe light.
The left three-dimensional magneto-optical trap (11) consists of 45-degree oblique beams (20a), (20b), (21a) and (21b) of laser beams, a horizontal beam (24) of the magneto-optical trap and a gradient coil (1401);
the right three-dimensional magneto-optical trap (12) consists of 45-degree oblique light beams (22a), (22b), (23a) and (23b), a magneto-optical trap horizontal light beam (25) and a gradient coil (1402);
the middle three-dimensional magneto-optical trap (13) is composed of 45-degree oblique beams (26) and (27), a magneto-optical trap horizontal beam (29), a laser beam reflected by a 0-degree retroreflector (30), and a gradient coil (15).
The left three-dimensional magneto-optical trap laser beam 45-degree oblique beams (20a), (20b), (21a), (21b), the magneto-optical trap horizontal beam (24) and the right three-dimensional magneto-optical trap (12) are provided with 45-degree oblique beams (22a), (22b), (23a), (23b), the magneto-optical trap horizontal beam (25) and the middle three-dimensional magneto-optical trap (13) are provided with 45-degree oblique beams (26), (27) and the magneto-optical trap horizontal beam (29) by an optical unit (90), the optical unit (90) simultaneously provides Raman beams (28a), (28b), detection light split by a detection light beam splitter (40) and horizontal detection light multiplexed (24), (25).
When the device is used for rotation measurement, horizontal beams (24) and (25) of the magneto-optical trap emit cooling light in an atom capturing stage and emit detection light in an interference stage; the horizontal beam (29) of the magneto-optical trap emits raman light; the horizontal light beam (29) of the magneto-optical trap emits cooling light when used for absolute gravitational acceleration information measurement.
The frequency locking and phase locking technology of two or more lasers is adopted, and stable laser output is realized firstly. The time-sharing multi-channel frequency output of the laser beams (24), (25) and (29) is realized by an optical adjusting device (lens, prism, acousto-optic, electro-optic modulator, and the like), a propagation device (such as an optical fiber, a free space, and the like) and an optical fiber collimating lens group or a reflector system at the tail end.
An absolute gravimeter and gyroscope integrated sensing method based on atomic interference effect comprises the following steps:
1) the cold atom gyroscope implementation method comprises the following steps:
the phase change of the lateral moving atomic group interference simultaneously comprises phases caused by rotation and acceleration, and angular velocity information and acceleration information are sensitive by measuring the lateral atomic interference phase difference: when the acceleration in the x direction and the rotation information in the y direction are measured, the middle three-dimensional magneto-optical trap (13) is closed, two groups of atoms are respectively prepared by the left magneto-optical trap (11) and the right magneto-optical trap (12), and after the capture is finished, the frequency difference between 45-degree oblique laser beams (20a, 20b) and 45-degree oblique laser beams (21a, 21b) is changed, so that the ejection of the atom groups in the x direction is realized; changing the frequency difference between the 45-degree oblique laser beams (22a) and (22b) and the 45-degree oblique laser beams (23a) and (23b) to realize the ejection of the atomic group in the-x direction;
due to the adoption of a symmetrical magneto-optical trap structure, the adjustment of the power and the frequency of cooling light can be realized, and the projecting speed of the left-side atomic group along the x direction isThe projectile velocity of the right radical is
The relationship between the projectile velocity v and the frequency difference Δ f is
k is the cooling light wave vector.
Two groups of atoms respectively pass through three Raman laser sequences in space: the transverse Raman light beam (28c), the transverse Raman light beam (28d) and the magneto-optical trap level (29) are used for realizing the beam splitting, beam combining and inversion of atomic groups, forming a Mach-Zehnder interferometer configuration and forming two interference loops.
After the interference is finished, the horizontal beams (24) and (25) of the magneto-optical trap are subjected to frequency shift by a frequency shift device (an acousto-optic modulator, an electro-optic modulator and the like), and then are changed into detection light by cooling light, and the detection light is used for detecting F2, mfThe emitted fluorescence signal is processed by the fluorescence collection means of the first detection unit (41). The lens combination (411) collects the resonance fluorescence, images the resonance fluorescence in the photoelectric converter (410), and converts the resonance fluorescence into the number of atoms after signal processing.
And scanning the Raman optical phase to obtain interference fringes. Phase of interference fringe of radical
Wherein
Is the effective raman light wave vector, T is the raman light pulse interval,
for angular velocity, a is the atomic acceleration.
In the device, the two groups of atoms have the same throwing speed and opposite directions, and the interference phase of the atom on the left side is as follows:
Δφ1＝(Keffaz+2KeffΩyv)T2(2)
the interference phase of the right atom is:
Δφ2＝(Keffaz-2KeffΩyv)T2(3)
the extracted rotation information and acceleration information according to equations (1) and (2) are:
2) the cold atom absolute gravimeter implementation method comprises the following steps:
the atom group interference information in the vertical direction contains absolute gravity acceleration information, and the atom interference phase information in the vertical direction is measured to sense the absolute gravity acceleration information: when absolute gravity measurement is carried out, the left three-dimensional magneto-optical trap (11) and the right three-dimensional magneto-optical trap (12) are closed, the transverse Raman light beams (28c) and (28d) are closed, atoms are captured in the middle three-dimensional magneto-optical trap (13), wherein the middle magneto-optical trap (13) is composed of cooling laser beams (26) and (27) and (29), a retroreflector (30) and a gradient coil (15), and the Raman light is composed of (28a) and (28b) formed by passing through the retroreflector (32). In the process of atom free falling, a microwave antenna (50) and Raman lights (28a) and (28b) are used for completing the process of atom state selection. A pi/2-pi/2 pulse sequence of Raman lights (28a, 28b) is applied at different times in an interference region (60) to form a Mach-Zehnder interferometer configuration, then probe lights are applied to obtain an atomic number distribution of a quantum state F-2, mf-0 and a quantum state F-1, mf-0, and interference phase information is obtained by scanning the frequency chirp rate of the Raman lights. The detection light forms a standing wave detection light field by the light splitting device (40) and the retroreflector (31).
The scheme of the multi-frequency laser transmitting end is as follows:
after a first beam of cooling light emitted by the optical unit (90) passes through a switch, the first beam of cooling light is divided into four beams of cooling light with equal power through the optical light splitting device and the frequency shifting device: 45-degree oblique light beams (20a), (20b), (22a), (22 b); after the second beam of cooling light passes through the switch, the second beam of cooling light is divided into four beams of cooling light with equal power through an optical light splitting device (a wave plate, a polarization beam splitter and the like) and a frequency shift device (an acousto-optic crystal, an electro-optic crystal and the like): 45-degree oblique light beams (21a), (21b), (23a), (23b), and whether the laser light beams (21a), (21b), (23a), (23b) emit Raman light beams or not is controlled by a switch. The power of the first beam of cooling light and the power of the second beam of cooling light are equal, and the frequency of the first beam of cooling light and the frequency of the second beam of cooling light can be changed through a frequency shift device (an acousto-optic crystal, an electro-optic crystal and the like).
As shown in FIG. 3, three Raman laser sequences pi/2-pi/2 pulses are applied to the interference region (60) at different falling moments of atoms, the interval between the two pulses is T, and after the interference is completed, the atoms are coherently superposed on the two quantum states.
Referring to fig. 5, the probe light emitted from the fiber collimator (401) passes through a 50:50 laser power beam splitter (402), the reflected light forms a first probe light beam (404), and the transmitted laser light passes through a right-angle reflector (403) to form a second probe light beam (405). The two probe lights form a standing wave probe light field through the retroreflector (31). After the atom falls into the detection region, the detection light (404) detects F2, mfThe atoms in the 0 state can form a traveling wave field by using a shading strip on a retroreflector (31), and F after detection is 2, mfThe atom at 0 blows away leaving the atom at F1, mfIn the 0 stateAn atom. The probe light (405) is coupled with the re-pumping light to change F to 1, mfConversion of atoms in the 0-state to F2, mfWhen the value is 0, the detection is performed. When the two groups of atoms emit resonance fluorescence when the two groups of atoms detect light with the first beam and the second beam, the two groups of atoms are respectively subjected to photoelectric conversion by two photoelectric probes in a fluorescence collecting device of a second detection unit (42), and the number of atoms in two atomic states is obtained. The phase delta phi of the Raman lights (28a, 28b) can be scanned to obtain the cosine type atom number distribution of different quantum states.
Phase distribution of interference fringes Δ Φ and acceleration of gravity
The relationship of (1) is:
whereinIs the effective Raman light wave vector, T is the Raman light pulse interval, α is the frequency chirp rate of Raman light in the atomic process, the measured normalized atomic number P is [ (1 +/-delta phi)/2]As can be seen from equation (4), there is one α0Satisfy the requirement ofAt this time, the delta phi is constant and is independent of the pulse interval T, so that a common intersection point is found by scanning interference stripes under different T, and α below the common intersection point is extracted0I.e. the absolute gravitational acceleration available:
when the method is used for measuring the absolute gravity acceleration, the transverse Raman optical sequence can be closed, atoms thrown by the magneto-optical traps on the left side and the right side can be captured by the middle magneto-optical trap, the capture time is shortened, the single-point measurement period is further reduced, and the measurement bandwidth is improved.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (5)
1. The absolute gravimeter and gyroscope integrated sensor based on the atomic interference effect is characterized in that: comprises a vacuum unit (10) installed in a magnetic shielding unit (80), a first detection unit (41), a second detection unit (42) and an optical unit (90), wherein:
the vacuum unit (10) is a cross-shaped totally-enclosed transparent container, a cavity which is penetrated through in a cross manner is arranged in the vacuum unit, the cavity comprises a cavity in the y direction and a cavity in the x direction, the cavity in the y direction is consistent with the direction of gravity, a left three-dimensional magneto-optical trap (11), a right three-dimensional magneto-optical trap (12) and a middle three-dimensional magneto-optical trap (13) are arranged in the cavity in the x direction at equal intervals, the middle magneto-optical trap (13) is positioned on the intersection point of the cavities in the x direction and the y direction, a transverse interference region (70) is positioned between the left magneto-optical trap (11) and the right magneto-optical trap (12), and the cavity in the y direction is provided with a third magneto-optical trap (13);
the first detection unit (41) and the second detection unit (42) are fluorescence collection devices; the first detection units (41) are positioned at two ends of the horizontal cavity and used for collecting rotation measurement information, and the second detection units (42) are positioned on the same horizontal plane of the detection area (61) and used for collecting gravity acceleration information;
the magnetic shielding unit (80) is made of a high-permeability material;
the optical unit (90) is provided by an external laser beam emitter, performs power distribution and frequency control through an optical light splitting device, and transmits the power distribution and frequency control to the vacuum unit (10) through a free space optical path or optical fiber equipment to form laser beams of a left three-dimensional magneto-optical trap (11), a right three-dimensional magneto-optical trap (12) and a middle three-dimensional magneto-optical trap (13);
the left three-dimensional magneto-optical trap (11) consists of 45-degree oblique beams (20a), (20b), (21a) and (21b) of laser beams, a horizontal beam (24) of the magneto-optical trap and a gradient coil (1401); the right three-dimensional magneto-optical trap (12) consists of 45-degree oblique light beams (22a), (22b), (23a) and (23b), a magneto-optical trap horizontal light beam (25) and a gradient coil (1402); the middle three-dimensional magneto-optical trap (13) consists of 45-degree oblique beams (26) and (27), a magneto-optical trap horizontal beam (29), a laser beam reflected by a 0-degree retroreflector (30) and a gradient coil (15);
the optical unit (90) provides a vertical Raman incident beam (28a), a vertical Raman backward beam (28b), transverse Raman beams (28c) and (28d), detection light split by the detection light beam splitter (40), and horizontal beams (24) and (25) of the magneto-optical trap are multiplexed into horizontal detection light.
2. The absolute gravimeter, gyroscope integrated sensor based on atomic interference effect according to claim 1, characterized in that: when the device is used for rotation measurement, a magneto-optical trap horizontal light beam (24) of the left three-dimensional magneto-optical trap (11) and a magneto-optical trap horizontal light beam (25) of the right three-dimensional magneto-optical trap (12) emit cooling light in an atom capturing stage, and emit detection light in an interference stage; the laser beam (29) emits raman light; and a horizontal beam (29) of the magneto-optical trap of the middle three-dimensional magneto-optical trap (13) emits cooling light when the absolute gravity acceleration information is measured.
3. An absolute gravimeter and gyroscope integrated sensing method based on atomic interference effect is characterized by comprising the following steps:
1) sensing angular velocity information and acceleration information by measuring transverse atomic interference phase differences:
when acceleration in the x direction and rotation information in the y direction are measured, the magneto-optical trap (13) is closed, two groups of atoms are captured by the magneto-optical traps (11) and (12) respectively, the frequency difference of 45-degree oblique light beams (20a, 20b) and 45-degree oblique light beams (21a, 21b) of the left three-dimensional magneto-optical trap (11) is changed, and the ejection of the atom groups in the x direction is realized; changing the frequency difference between 45-degree oblique beams (22a) and (22b) of the right three-dimensional magneto-optical trap (12) and laser beams (23a) and (23b) to realize the ejection of the atomic group in the-x direction; two groups of atoms respectively pass through three Raman laser sequences in space: the transverse Raman light beam (28c), the transverse Raman light beam (28d) and the magneto-optical trap horizontal light beam (29) are used for realizing splitting, beam combination and inversion of atomic groups, forming a Mach-Zehnder interferometer configuration and forming two interference loops; after the interference is finished, a magneto-optical trap horizontal beam (24) of the left three-dimensional magneto-optical trap (11) and a magneto-optical trap horizontal beam (25) of the right three-dimensional magneto-optical trap (12) move through the frequency of the frequency shift device, cooling light forms detection light, and fluorescence information of atomic interference is obtained by a first detection device (41) respectively;
2) by measuring atomic interference phase information in the vertical direction, absolute gravitational acceleration information is sensitive:
when absolute gravity measurement is carried out, the left three-dimensional magneto-optical trap (11) and the right three-dimensional magneto-optical trap (12) are closed, the transverse Raman light beams (28c) and (28d) are closed, atoms are captured in the middle three-dimensional magneto-optical trap (13), the middle magneto-optical trap (13) is composed of cooled 45-degree oblique light beams (26) and (27), a magneto-optical trap horizontal light beam (29), a retro-reflector (30) and a gradient coil (15), and the Raman light is composed of a vertical Raman incident light beam (28a) and a vertical Raman incident light backward light beam (28b) formed by the retro-reflector (32);
in the atom free falling process, a microwave antenna (50), a vertical Raman incident beam (28a) and a vertical Raman incident reverse beam (28b) are used for completing the atom state selection process;
and (2) acting pi/2-pi/2 pulse sequences of a vertical Raman incident light beam (28a) and a vertical Raman incident light backward light beam (28b) at different moments in an interference region (60) to form a Mach-Zehnder interferometer configuration, then acting detection light to obtain the atomic number distribution of a quantum state F-2, an mf-0 and a quantum state F-1, and an mf-0, and obtaining interference phase information by scanning the frequency chirp rate of the Raman light, wherein the detection light forms a standing wave detection light field by a light splitting device (40) and a retroreflector (31).
4. The absolute gravimeter and gyroscope integrated sensing method based on atomic interference effect according to claim 3, characterized in that: after a first beam of cooling light emitted by the optical unit (90) passes through a switch, the first beam of cooling light is divided into four beams of cooling light with equal power through an optical light splitting device and a frequency shift device: 45-degree oblique light beams (20a), (20b), (22a), (22 b); after the second beam of cooling light passes through the switch, the second beam of cooling light is divided into four beams of cooling light with equal power through an optical light splitting device (a wave plate, a polarization beam splitter and the like) and a frequency shift device (an acousto-optic crystal, an electro-optic crystal and the like): 45-degree oblique light beams (21a), (21b), (23a), (23b), and whether the laser light beams (21a), (21b), (23a), (23b) emit Raman light beams or not is controlled by a switch. The power of the first beam of cooling light and the power of the second beam of cooling light are equal, and the frequency of the first beam of cooling light and the frequency of the second beam of cooling light can be changed through a frequency shift device (an acousto-optic crystal, an electro-optic crystal and the like).
5. The absolute gravimeter and gyroscope integrated sensing method based on atomic interference effect according to claim 4, characterized in that: the switch is a mechanical switch or an acousto-optic crystal; the optical beam splitter is a wave plate and a polarization beam splitter, and the frequency shift device is an acousto-optic crystal and an electro-optic crystal.
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