CN113532429A - Air chamber temperature fluctuation error suppression method of atomic gyroscope - Google Patents

Air chamber temperature fluctuation error suppression method of atomic gyroscope Download PDF

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CN113532429A
CN113532429A CN202110738212.XA CN202110738212A CN113532429A CN 113532429 A CN113532429 A CN 113532429A CN 202110738212 A CN202110738212 A CN 202110738212A CN 113532429 A CN113532429 A CN 113532429A
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gyroscope
temperature
air chamber
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CN113532429B (en
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全伟
刘佳丽
姜丽伟
梁逸翔
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Beihang University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract

A method for suppressing the temperature fluctuation error of a gas chamber of an atomic gyroscope comprises the steps of heating, pumping and compensating a magnetic field of the gyroscope to enable the gyroscope to reach a working state; then calibrating the coefficient of the output signal of the gyroscope changing along with the input angular rate; then calibrating the coefficient of the output signal of the gyroscope changing along with the temperature of the air chamber, dividing the coefficient by the coefficient of the output signal changing along with the input angular rate, and calculating the temperature sensitivity coefficient of the air chamber of the gyroscope; and finally, the temperature sensitivity coefficient of the gas chamber of the gyroscope is reduced to zero by regulating the optical depth of the alkali metal atoms for detecting light for multiple times, so that the output signal of the gyroscope is not sensitive to the fluctuation of the temperature of the gas chamber any more, thereby inhibiting the angular rate measurement error of the gyroscope caused by the fluctuation of the temperature of the gas chamber and improving the stability of the gyroscope. Meanwhile, the method reduces the requirement of the gyroscope on the precision of the temperature control circuit of the air chamber, reduces the complexity of the system and is beneficial to the miniaturization of the gyroscope.

Description

Air chamber temperature fluctuation error suppression method of atomic gyroscope
Technical Field
The invention relates to a method for inhibiting temperature fluctuation errors of a gas chamber of an atomic gyroscope, provides necessary conditions for the use of a high-precision gyroscope, and belongs to the field of atomic gyroscopes.
Background
The high-precision inertial navigation has important significance, and the gyroscope is the sensitive core of the inertial navigation system and determines the overall performance of the inertial navigation system. In recent years, with the development of quantum science and technology, an atomic spin gyroscope based on a spin-exchange relaxation effect can sense the change of an inertial angular rate with ultrahigh sensitivity, and is one of important development directions of a new generation of high-precision gyroscopes. The high temperature and low magnetic environment are necessary conditions for achieving a non-spin-exchange relaxed state of the alkali metal atoms, wherein the high temperature conditions ensure a high density of atoms. The temperature of the gas cell determines the atomic density of the alkali metal, and the fluctuation of the atomic density can cause the signal intensity of the gyroscope to change, thereby causing the sensitivity and the long-term stability of the gyroscope to be reduced. At present, an electric heating mode is adopted to heat an alkali metal air chamber, closed-loop control is adopted to reduce the fluctuation of the temperature of the air chamber, however, the lifting space of the temperature control precision of the air chamber is limited, the precision of a temperature control circuit of the air chamber is further improved, the complexity of the system can be greatly increased, and the application of a gyroscope is not facilitated.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for restraining the temperature fluctuation error of the air chamber of the atomic gyroscope overcomes the defects of the prior art, reduces the sensitivity coefficient of a gyroscope signal to the fluctuation of the air chamber temperature by adjusting the optical depth of alkali metal atoms to detection light, improves the sensitivity and long-term stability of the gyroscope, and provides necessary conditions for the use of a high-precision atomic gyroscope.
The technical solution of the invention is as follows:
a method for suppressing the temperature fluctuation error of a gas chamber of an atomic gyroscope is characterized by comprising the following steps: heating, pumping and three-dimensional magnetic field compensation zeroing a gas chamber filled with alkali metal atoms and inert gas to reach a working state; then calibrating the coefficient of the output signal of the gyroscope changing along with the input angular rate; then calibrating the coefficient of the output signal of the gyroscope changing along with the temperature of the air chamber, dividing the coefficient by the coefficient of the output signal changing along with the input angular rate, and calculating the temperature sensitivity coefficient of the air chamber of the gyroscope; and finally, reducing the temperature sensitivity coefficient of the gas chamber of the gyroscope to zero by regulating the optical depth of the alkali metal atoms for detecting light for multiple times, so that the output signal of the gyroscope is not sensitive to the fluctuation of the temperature of the gas chamber any more, and further, the angular rate measurement error of the gyroscope caused by the fluctuation of the temperature of the gas chamber is inhibited.
The method comprises the following steps:
step 1, inputting different inertial angular rates omega in the sensitive direction of a gyroscope, and testing an output signal V of the gyroscopeoutLinear relationship with inertial input angular rate Ω, Vout＝K1Ω+b1In which K is1Scale factor of the gyroscope output signal as a function of the input angular rate, b1Recording the scale factor K for the output bias signal of the gyroscope without angular rate input1；
Step 2, changing the set value T of the temperature of the air chamber after the gyroscope reaches the working state, and testing to obtain an output signal V of the gyroscopeoutLinear relationship with the temperature T of the chamber, Vout＝K2T+b2In which K is2Proportional coefficient of gyroscope output signal varying with air chamber temperature, b2Recording a proportionality coefficient K for a bias signal of the gyroscope changing along with the temperature of the air chamber2；
Step 3, calculating the sensitivity coefficient of the output signal of the gyroscope to the temperature fluctuation of the air chamber to be KT＝K2/K1；
And 4, changing the optical depth of the alkali metal atoms to the detection light by adjusting the frequency of the detection light, repeating the steps 1 to 3 to calibrate the temperature sensitivity coefficient of the air chamber until the temperature sensitivity coefficient of the air chamber is zero, and at the moment, the output signal of the gyroscope is not sensitive to the fluctuation of the temperature of the air chamber any more.
The gyroscope adopts an optical path orthogonal to pumping and detection, wherein pumping light is circularly polarized light and is used for polarizing atoms, detection light is linearly polarized light, and inertia measurement information is extracted by utilizing the rotation angle of a linear polarization surface after the linearly polarized light passes through the air chamber.
The control circuit and the algorithm are adopted to carry out closed-loop control on the temperature of the air chamber, so that the temperature of the air chamber can reach a stable state quickly.
In the step 1 and the step 2, a linear least square fitting method is adopted, and the linear relation between the steady-state bias signal and the input of the temperature and the angular rate of the air chamber is obtained through fitting.
The adjusting of the optical depth of the alkali metal atoms to the detection light comprises adjusting the temperature of the gas chamber or changing the optical path of the detection light passing through the alkali metal gas chamber or adjusting the frequency of the detection light to realize optical depth adjustment.
The optical depth adjustment results in the optical depth satisfying the following condition:
Figure BDA0003140585780000021
where OD (v) is the optical depth, RpIn order to be able to pump the power,
Figure BDA0003140585780000022
collision relaxation is disrupted for the spin exchange of the electron spins with the nuclear spins,
Figure BDA0003140585780000023
collision relaxation is disrupted for spin exchange between electron spins.
The invention has the following technical effects: the method for inhibiting the temperature fluctuation error of the air chamber of the atomic gyroscope can effectively improve the stability of the gyroscope, simultaneously reduces the requirement of the gyroscope on the precision of a temperature control circuit of the air chamber, reduces the complexity of a system and is beneficial to the miniaturization of the gyroscope.
Compared with the prior art, the invention has the advantages that: the method for inhibiting the temperature fluctuation error of the gas chamber of the atomic gyroscope is characterized in that the output of the gyroscope is insensitive to the fluctuation of the temperature of the gas chamber by adjusting the optical depth of alkali metal atoms to detection light, so that the influence of the temperature fluctuation of the gas chamber of the atomic gyroscope is inhibited. Compared with the existing method for realizing the suppression of the temperature fluctuation of the air chamber by improving the temperature control precision of the air chamber, the method is not limited by the temperature control precision of the air chamber, and can make the output of the gyroscope insensitive to the fluctuation of the temperature of the air chamber in principle, thereby suppressing the influence of the temperature of the air chamber on the sensitivity and the long-term stability of the gyroscope.
Drawings
FIG. 1 is a schematic flow chart of a method for suppressing the temperature fluctuation error of a gas cell of an atomic gyroscope according to the present invention. Fig. 1 includes the following steps: step 1, starting; step 2, the atomic ensemble in the gas chamber reaches a working state; step 3, measuring a coefficient K1 of an output bias signal of the gyroscope along with the temperature change of the air chamber; step 4, measuring a coefficient K2 of an output bias signal of the gyroscope changing along with an input angular rate; step 5, calculating the temperature sensitivity coefficient K of the air chamberTStep 6, judging whether the temperature sensitivity coefficient K of the air chamber is K1/K2 or notTIf not, returning to the step 3 after adjusting the optical depth, and if so, entering the step 7; and 7, finishing. And 3, measuring the temperature sensitive coefficient from step 3 to step 5.
Fig. 2 is a graph including (a) and (b), in which fig. 2a is shown above and fig. 2b is shown below, and the abscissa of fig. 2a and 2b is the detection light frequency (THz): 376.8-377-377.2-377.4-377.6-377.8-378 THz. Fig. 2a is a schematic diagram showing the variation of the derivative of the output signal of the gyroscope to the atom density with the frequency of the detected light. Derivative of the ordinate gyroscope output signal Vout of fig. 2a with respect to the atom density n: -0.5, 0, 0.5; points a and B in fig. 2a are both the detection optical frequency points with zero sensitivity coefficient of the gyroscope gas cell temperature. FIG. 2b is a diagram illustrating the variation of optical depth with the frequency of detected light. The ordinate of fig. 2b is the optical depth OD: 0,0.5,1.
Fig. 3 is a schematic structural diagram of an experimental system for implementing the method for suppressing the temperature fluctuation error of the gas chamber of the atomic gyroscope according to the present invention. The upper left corner in fig. 3 represents the relevant xyz triaxial directions.
The reference numerals have the meanings: 1-pump laser; 2-pumping laser power stabilizing module; 3-a first quarter wave plate; 4-a first photodetector; 5-a first polarization beam splitter prism; 6-a reflector; 7-a quarter wave plate; 8-detection laser; 9-detecting a laser stable power module; 10-a second half wave plate; 11-a second photodetector; 12-a second polarization splitting prism; 13-a signal generator; 14-a detection system; 15-air chamber; 16-a non-magnetic electric heating system; 17-three-dimensional magnetic field control coils; 18-magnetic shielding system.
Detailed Description
The invention is explained below with reference to the figures (fig. 1-3) and the examples.
FIG. 1 is a schematic flow chart of a method for suppressing the temperature fluctuation error of a gas cell of an atomic gyroscope according to the present invention. Fig. 2a is a schematic diagram showing the variation of the derivative of the output signal of the gyroscope to the atom density with the frequency of the detected light. FIG. 2b is a diagram illustrating the variation of optical depth with the frequency of detected light. Fig. 3 is a schematic structural diagram of an experimental system for implementing the method for suppressing the temperature fluctuation error of the gas chamber of the atomic gyroscope according to the present invention. Referring to fig. 1 to 3, a method for suppressing temperature fluctuation error of a gas cell of an atomic gyroscope, which heats, pumps and compensates and zeroes a gas cell filled with alkali metal atoms and inert gas to reach a working state; then calibrating the coefficient of the output signal of the gyroscope changing along with the input angular rate; then calibrating the coefficient of the output signal of the gyroscope changing along with the temperature of the air chamber, dividing the coefficient by the coefficient of the output signal changing along with the input angular rate, and calculating the temperature sensitivity coefficient of the air chamber of the gyroscope; and finally, reducing the temperature sensitivity coefficient of the gas chamber of the gyroscope to zero by regulating the optical depth of the alkali metal atoms for detecting light for multiple times, so that the output signal of the gyroscope is not sensitive to the fluctuation of the temperature of the gas chamber any more, and further, the angular rate measurement error of the gyroscope caused by the fluctuation of the temperature of the gas chamber is inhibited.
The method comprises the following steps: step 1, inputting different inertial angular rates omega in the sensitive direction of a gyroscope, and testing an output signal V of the gyroscopeoutLinear relationship with inertial input angular rate Ω, Vout＝K1Ω+b1In which K is1Scale factor of the gyroscope output signal as a function of the input angular rate, b1Recording the scale factor K for the output bias signal of the gyroscope without angular rate input1(ii) a Step 2, changing the temperature set value T of the air chamber after the gyroscope reaches the working state, and testing to obtain the output of the gyroscopeSignal VoutLinear relationship with the temperature T of the chamber, Vout＝K2T+b2In which K is2Proportional coefficient of gyroscope output signal varying with air chamber temperature, b2Recording a proportionality coefficient K for a bias signal of the gyroscope changing along with the temperature of the air chamber2(ii) a Step 3, calculating the sensitivity coefficient of the output signal of the gyroscope to the temperature fluctuation of the air chamber to be KT＝K2/K1(ii) a And 4, changing the optical depth of the alkali metal atoms to the detection light by adjusting the frequency of the detection light, repeating the steps 1 to 3 to calibrate the temperature sensitivity coefficient of the air chamber until the temperature sensitivity coefficient of the air chamber is zero, and at the moment, the output signal of the gyroscope is not sensitive to the fluctuation of the temperature of the air chamber any more.
The gyroscope adopts an optical path orthogonal to pumping and detection, wherein pumping light is circularly polarized light and is used for polarizing atoms, detection light is linearly polarized light, and inertia measurement information is extracted by utilizing the rotation angle of a linear polarization surface after the linearly polarized light passes through the air chamber. The control circuit and the algorithm are adopted to carry out closed-loop control on the temperature of the air chamber, so that the temperature of the air chamber can reach a stable state quickly. In the step 1 and the step 2, a linear least square fitting method is adopted, and the linear relation between the steady-state bias signal and the input of the temperature and the angular rate of the air chamber is obtained through fitting. The adjusting of the optical depth of the alkali metal atoms to the detection light comprises adjusting the temperature of the gas chamber or changing the optical path of the detection light passing through the alkali metal gas chamber or adjusting the frequency of the detection light to realize optical depth adjustment. The optical depth adjustment results in the optical depth satisfying the following condition:
Figure BDA0003140585780000041
where OD (v) is the optical depth, RpIn order to be able to pump the power,
Figure BDA0003140585780000051
collision relaxation is disrupted for the spin exchange of the electron spins with the nuclear spins,
Figure BDA0003140585780000052
collision relaxation is disrupted for spin exchange between electron spins.
The principle of the invention is as follows: the output signal V of the gyroscope detected by the gyroscope in the x direction is obtained by adopting an optical path structure that the detection light is orthogonal to the pumping light, and the detection light is along the x directionoutComprises the following steps:
Vout＝ηMacI0θe-OD(ν) (1)
wherein η is the photoelectric conversion efficiency of the detector; macIs the preamplifier gain; i is0Is the light intensity of the detected light; theta is an optical rotation angle and can reflect the change of angular rate of the carrier; OD (v) is optical depth, is a function of the frequency of the detected light, and describes the attenuation capacity of the alkali metal gas chamber to the incident light, and the optical depth OD (v) is expressed as:
Figure BDA0003140585780000053
wherein, l is the optical path of the detection light passing through the gas chamber, n is the atomic density, reIs the electron radius, c is the speed of light, fD1Is the oscillation intensity of the alkali metal atom D1 line, vprFor detecting optical frequency, vD1Is the resonance frequency, Γ, of the line of the alkali metal atom D1D1Is the pressure broadening of the D1 line of alkali metal atoms in the buffer gas. The fluctuation of the temperature of the gas chamber can cause the fluctuation of the atom density, thereby causing the fluctuation of parameters such as atom relaxation rate, atom polarization rate, optical rotation angle, optical depth and the like, and finally causing the fluctuation of the output signal of the gyroscope. Fluctuations in the temperature of the gas cell have an adverse effect on the sensitivity and long-term stability of the gyroscope. Combining the formula (1) and the formula (2), the output signal V of the gyroscopeoutAnd (3) deriving the atomic density n, wherein the expression is as follows:
Figure BDA0003140585780000054
wherein, γeAnd gammanGyromagnetic ratio of electron spin and nuclear spin, respectively, D (v) being related toDetecting a function of optical frequency, RpIn order to be able to pump the power,
Figure BDA0003140585780000055
collision relaxation is disrupted for spin exchange between electron spins,
Figure BDA0003140585780000056
collision relaxation is disrupted for the spin exchange of the electron spins with the nuclear spins,
Figure BDA0003140585780000057
is the total relaxation rate of the electron spins. According to the above formula, when
Figure BDA0003140585780000058
The derivative of the output of the gyroscope to the atom density is 0, and the output of the gyroscope is not sensitive to the fluctuation of the atom density at the moment, namely the output of the gyroscope is not sensitive to the fluctuation of the temperature of the gas chamber. When the derivative is 0, the optical depth OD (ν) satisfies the following condition:
Figure BDA0003140585780000061
as can be seen from the equation (2), the optical depth can be changed by adjusting the detection light frequency, and therefore, the output of the gyroscope can be made insensitive to the fluctuation of the gas cell temperature by adjusting the detection light frequency, thereby suppressing the influence of the fluctuation of the gas cell temperature on the gyroscope.
FIG. 1 shows a flow chart of the method of the present invention.
The method comprises the following specific implementation steps:
(1) as shown in the schematic diagram of the experimental system in fig. 3, the air chamber 15 is heated to the working temperature by the non-magnetic electric heating system 16, the magnetic shielding system 18 is used for shielding geomagnetic signals, the pumping laser 1 is stabilized by the pumping laser power stabilization module 2, light received by the first photodetector 4 is used as feedback light to stabilize the light intensity, the polarization is performed by the first half wave plate 3 and the first polarization beam splitter prism 5, the polarization is changed into circularly polarized light by the reflector 6 and the quarter wave plate 7, and circularly polarized pumping laser polarizes atoms along the z-axis. The detection laser 8 passes through the detection laser power stabilizing module 9, light received by the second photoelectric detector 11 is used as feedback light to stabilize light intensity, the light is changed into linearly polarized light through the second half-wave plate 10 and the second polarization beam splitter prism 12, the linearly polarized light passes through the air chamber 15 along the x-axis direction, and a Faraday rotation signal generated by atoms in the air chamber is detected through the detection system 14. The signal generator 13 is connected to the three-dimensional magnetic field control coil 17 for generating magnetic field control signals in three directions.
(2) Inputting different inertial angular rates omega in the sensitive direction of the gyroscope, and testing the output signal V of the gyroscopeoutLinear relationship with inertial input angular rate Ω, Vout＝K1Ω+b1In which K is1Scale factor of the gyroscope output signal as a function of the input angular rate, b1Recording the scale factor K for the output bias signal of the gyroscope without angular rate input1。
(3) When the gyroscope reaches the working state, the temperature set value T of the air chamber is changed, and the output signal V of the gyroscope is obtained through testingoutLinear relationship with the temperature T of the chamber, Vout＝K2T+b2In which K is2Proportional coefficient of gyroscope output signal varying with air chamber temperature, b2Recording a proportionality coefficient K for a bias signal of the gyroscope changing along with the temperature of the air chamber2。
(4) Calculating the sensitivity coefficient of the output signal of the gyroscope to the temperature fluctuation of the air chamber to be KT＝K1/K2。
(5) The gas chamber temperature sensitivity coefficient of the gyroscope is reduced by changing the detection light frequency, and the curve of the derivative of the output signal of the gyroscope to the atom density along with the change of the detection light frequency is shown in fig. 2a, which reflects the relation of the gas chamber temperature sensitivity coefficient of the gyroscope along with the change of the detection light frequency. The curve of the optical depth of the alkali metal atoms to the detection light along with the change of the detection light frequency is shown in fig. 2B, when the detection light frequency is adjusted to the points a and B in fig. 2a, the sensitivity coefficient of the gas chamber temperature of the gyroscope is zero, the gyroscope is not sensitive to the fluctuation of the gas chamber temperature at the moment, and the expression of the optical depth corresponding to the points a and B is as follows:
Figure BDA0003140585780000062
in the step (1), the gyroscope adopts an optical path orthogonal to pumping and detection, wherein pumping light is circularly polarized light and is used for polarizing atoms, detection light is linearly polarized light, and inertia measurement information is extracted by utilizing the rotation angle of a linear polarization surface after the linearly polarized light passes through the air chamber.
In the step (1), the temperature of the air chamber is subjected to closed-loop control by adopting a control circuit and an algorithm, so that the temperature of the air chamber quickly reaches a stable state.
In the step (2) and the step (3), a linear least square fitting method is adopted to fit to obtain a linear relation between the steady-state bias signal of the gyroscope and the temperature and angular rate input of the air chamber.
In the step (5), the optical depth of the alkali metal atom to the detection light can also be adjusted by adjusting the heating temperature of the gas cell or changing the optical path of the detection light passing through the alkali metal gas cell.
Those skilled in the art will appreciate that the invention may be practiced without these specific details. It is pointed out here that the above description is helpful for the person skilled in the art to understand the invention, but does not limit the scope of protection of the invention. Any such equivalents, modifications and/or omissions as may be made without departing from the spirit and scope of the invention may be resorted to.

Claims (7)

1. A method for suppressing temperature fluctuation error of a gas chamber of an atomic gyroscope is characterized in that the gas chamber filled with alkali metal atoms and inert gas is heated, pumped and subjected to three-dimensional magnetic field compensation and return to zero to reach a working state; then calibrating the coefficient of the output signal of the gyroscope changing along with the input angular rate; then calibrating the coefficient of the output signal of the gyroscope changing along with the temperature of the air chamber, dividing the coefficient by the coefficient of the output signal changing along with the input angular rate, and calculating the temperature sensitivity coefficient of the air chamber of the gyroscope; and finally, reducing the temperature sensitivity coefficient of the gas chamber of the gyroscope to zero by regulating the optical depth of the alkali metal atoms for detecting light for multiple times, so that the output signal of the gyroscope is not sensitive to the fluctuation of the temperature of the gas chamber any more, and further, the angular rate measurement error of the gyroscope caused by the fluctuation of the temperature of the gas chamber is inhibited.
2. The method for suppressing the gas cell temperature fluctuation error of the atomic gyroscope according to claim 1, characterized by comprising the steps of:
step 1, inputting different inertial angular rates omega in the sensitive direction of a gyroscope, and testing an output signal V of the gyroscopeoutLinear relationship with inertial input angular rate Ω, Vout＝K1Ω+b1In which K is1Scale factor of the gyroscope output signal as a function of the input angular rate, b1Recording the scale factor K for the output bias signal of the gyroscope without angular rate input1；
Step 2, changing the set value T of the temperature of the air chamber after the gyroscope reaches the working state, and testing to obtain an output signal V of the gyroscopeoutLinear relationship with the temperature T of the chamber, Vout＝K2T+b2In which K is2Proportional coefficient of gyroscope output signal varying with air chamber temperature, b2Recording a proportionality coefficient K for a bias signal of the gyroscope changing along with the temperature of the air chamber2；
Step 3, calculating the sensitivity coefficient of the output signal of the gyroscope to the temperature fluctuation of the air chamber to be KT＝K2/K1；
And 4, changing the optical depth of the alkali metal atoms to the detection light by adjusting the frequency of the detection light, repeating the steps 1 to 3 to calibrate the temperature sensitivity coefficient of the air chamber until the temperature sensitivity coefficient of the air chamber is zero, and at the moment, the output signal of the gyroscope is not sensitive to the fluctuation of the temperature of the air chamber any more.
3. The method for suppressing the temperature fluctuation error of the gas cell of the atomic gyroscope according to claim 1, wherein the gyroscope employs an optical path orthogonal to pumping and detection, wherein pumping light is circularly polarized light for polarizing atoms, detection light is linearly polarized light, and inertial measurement information is extracted by using the rotation angle of the linear polarization plane after the linearly polarized light passes through the gas cell.
4. The method for suppressing the temperature fluctuation error of the gas cell of the atomic gyroscope according to claim 1, wherein the temperature of the gas cell is closed-loop controlled by a control circuit and an algorithm so that the temperature of the gas cell reaches a steady state relatively quickly.
5. The method for suppressing the temperature fluctuation error of the gas chamber of the atomic gyroscope according to claim 2, wherein in the step 1 and the step 2, a linear least square fitting method is adopted, and a linear relation between the steady-state bias signal and the input of the temperature and the angular rate of the gas chamber is obtained through fitting.
6. The method for suppressing the temperature fluctuation error of the gas cell of the atomic gyroscope according to claim 1, wherein the adjusting the optical depth of the alkali metal atom to the detection light includes realizing the optical depth adjustment by adjusting the temperature of the gas cell or changing an optical path length of the detection light passing through the alkali metal gas cell or adjusting a frequency of the detection light.
7. The method of suppressing the gas cell temperature fluctuation error of the atomic gyroscope according to claim 1, wherein the optical depth adjustment results in an optical depth satisfying the following condition:
Figure FDA0003140585770000021
where OD (v) is the optical depth, RpIn order to be able to pump the power,
Figure FDA0003140585770000022
collision relaxation is disrupted for the spin exchange of the electron spins with the nuclear spins,
Figure FDA0003140585770000023
collision relaxation is disrupted for spin exchange between electron spins.
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