CN113532429B - Air chamber temperature fluctuation error suppression method of atomic gyroscope - Google Patents
Air chamber temperature fluctuation error suppression method of atomic gyroscope Download PDFInfo
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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
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- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/10—Nuclear fusion reactors
Abstract
The air chamber temperature fluctuation error suppression method of an atomic gyroscope comprises the steps of firstly heating, pumping and magnetic field compensation of the gyroscope to enable the gyroscope to reach a working state; calibrating the coefficient of the output signal of the gyroscope along with the change of the input angular rate; then calibrating the coefficient of the output signal of the gyroscope along with the change of the temperature of the air chamber, dividing the coefficient of the output signal along with the change of 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 air chamber of the gyroscope is reduced to zero by adjusting the optical depth of the alkali metal atoms to the detection light for a plurality of times, so that the output signal of the gyroscope is not sensitive to the fluctuation of the air chamber temperature, thereby inhibiting the angular rate measurement error of the gyroscope caused by the fluctuation of the air chamber temperature and improving the stability of the gyroscope. Meanwhile, the method reduces the requirement of the gyroscope on the precision of the air chamber temperature control circuit, reduces the complexity of the system and is beneficial to the miniaturization of the gyroscope.
Description
Technical Field
The invention relates to a method for suppressing air chamber temperature fluctuation errors of an atomic gyroscope, which 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 a 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 spin-exchange relaxation effect can sense the change of the angular velocity of inertia with ultrahigh sensitivity, and is one of the important development directions of a new generation of high-precision gyroscopes. The high temperature and the high magnetic environment are necessary conditions for achieving a spin-free relaxation state of the alkali metal atoms, wherein the high temperature conditions ensure a high number of density of atoms. The temperature of the air chamber determines the atomic density of the alkali metal, and fluctuation of the atomic density causes variation of the signal intensity of the gyroscope, thereby causing degradation of the sensitivity and long-term stability of the gyroscope. At present, an electric heating mode is adopted to heat an alkali metal air chamber, closed-loop control is adopted to reduce fluctuation of the air chamber temperature, but the air chamber temperature control precision is limited in lifting space, and further the precision of an air chamber temperature control circuit can greatly increase the complexity of a system, so that the application of a gyroscope is not facilitated.
Disclosure of Invention
The invention aims to solve the technical problems that: the method for suppressing the air chamber temperature fluctuation error of the atomic gyroscope overcomes the defects of the prior art, reduces the sensitivity coefficient of the 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 the high-precision atomic gyroscope.
The technical scheme of the invention is as follows:
a method for suppressing air chamber temperature fluctuation error of an atomic gyroscope is characterized in that: heating, pumping and three-dimensional magnetic field compensation zeroing the air chamber filled with alkali metal atoms and inert gas to reach a working state; calibrating the coefficient of the output signal of the gyroscope along with the change of the input angular rate; then calibrating the coefficient of the output signal of the gyroscope along with the change of the temperature of the air chamber, dividing the coefficient of the output signal along with the change of 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 air chamber of the gyroscope to zero by adjusting the optical depth of the alkali metal atoms to the detection light for a plurality of times, so that the output signal of the gyroscope is not sensitive to the fluctuation of the air chamber temperature, and thus, the angular rate measurement error of the gyroscope caused by the fluctuation of the air chamber temperature is restrained.
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 gyroscope out Linear relation with inertial input angular rate omega, V out ＝K 1 Ω+b 1 Wherein K is 1 B is the proportionality coefficient of the gyroscope output signal changing along with the input angular rate 1 For non-angular rate inputOutput bias signal of the screw instrument, record the proportionality coefficient K 1 ；
Step 2, after the gyroscope reaches a working state, changing a temperature set value T of the air chamber, and testing to obtain an output signal V of the gyroscope out Linear relation with chamber temperature T, V out ＝K 2 T+b 2 Wherein K is 2 B is the proportionality coefficient of the gyroscope output signal changing along with the temperature of the air chamber 2 For the bias signal of gyroscope along with the temperature change of air chamber, recording the proportionality coefficient K 2 ；
Step 3, calculating the sensitivity coefficient of the output signal of the gyroscope to the temperature fluctuation of the air chamber as K T ＝K 2 /K 1 ；
And 4, changing the optical depth of the alkali metal atoms to the detection light by adjusting the frequency of the detection light, and repeating the steps 1-3 to calibrate the temperature sensitivity coefficient of the air chamber until the temperature sensitivity coefficient of the air chamber is zero, wherein the output signal of the gyroscope is not sensitive to the fluctuation of the temperature of the air chamber.
The gyroscope adopts pumping and detection orthogonal light paths, wherein pumping light is circularly polarized light for polarizing atoms, detection light is linearly polarized light, and inertial measurement information is extracted by utilizing the angle of rotation of a linear polarization plane after the linearly polarized light passes through the air chamber.
The temperature of the air chamber is controlled in a closed loop by adopting a control circuit and an algorithm, so that the temperature of the air chamber reaches a stable state faster.
In the step 1 and the step 2, a linear least square fitting method is adopted, and a linear relation between a steady-state bias signal and the temperature and angular rate input of the air chamber is obtained through fitting.
The adjusting 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.
The result of the optical depth adjustment is that the optical depth satisfies the following condition:
in the formula, OD (v) optical depth, R p In order to achieve a pumping rate,for spin-exchange destructive collision relaxation of electron spin and nuclear spin, +.>Collision relaxation is destroyed for spin exchange between electron spins.
The invention has the following technical effects: the air chamber temperature fluctuation error suppression method of the atomic gyroscope can effectively improve the stability of the gyroscope, simultaneously, the method reduces the requirement of the gyroscope on the accuracy of an air chamber temperature control circuit, reduces the complexity of a system and is beneficial to miniaturization of the gyroscope.
Compared with the prior art, the invention has the advantages that: the method for suppressing the air chamber temperature fluctuation error of the atomic gyroscope is characterized in that the output of the gyroscope is insensitive to the fluctuation of the air chamber temperature by adjusting the optical depth of alkali metal atoms to detection light, so that the influence of the air chamber temperature fluctuation of the atomic gyroscope is suppressed. Compared with the existing method for realizing the suppression of the temperature fluctuation of the air chamber by improving the air chamber temperature control precision, the method is not limited by the air chamber temperature control precision, and can make the output of the gyroscope insensitive to the fluctuation of the air chamber temperature in principle, thereby suppressing the influence of the air chamber temperature on the sensitivity and long-term stability of the gyroscope.
Drawings
FIG. 1 is a schematic flow chart of a method for suppressing the temperature fluctuation error of an air chamber of an atomic gyroscope according to the present invention. The following steps are included in fig. 1: step 1, starting; step 2, the atomic ensemble in the air chamber reaches a working state; step 3, measuring a coefficient K1 of the output bias signal of the gyroscope along with the temperature change of the air chamber; step 4, measuring a coefficient K2 of the change of an output bias signal of the gyroscope along with the input angular rate; step 5, calculating the temperature sensitivity coefficient K of the air chamber T Step 6, judging whether the temperature sensitivity coefficient K of the air chamber is K1/K2 T =0, if not, then return to step 3 after adjusting the optical depthIf yes, enter step 7; and 7, finishing. Steps 3 to 5 belong to the temperature sensitivity coefficient measurement.
Fig. 2 is a graph comprising (a) and (b), fig. 2a above and fig. 2b below, the abscissa of fig. 2a and fig. 2b being the detected light frequency (THz): 376.8-377-377.2-377.4-377.6-377.8-378THz. FIG. 2a is a graph showing the variation of the derivative of the gyroscope output signal with respect to the atomic density with respect to the detected light frequency. Derivative of the ordinate gyro output signal Vout of fig. 2a with respect to the atomic density n: -0.5,0,0.5; points A and B in FIG. 2a are both detection light frequency points with zero sensitivity coefficient of the gyroscope air chamber temperature. FIG. 2b is a graph showing the change of the optical depth with the frequency of the detected light. The ordinate of fig. 2b is the optical depth OD:0,0.5,1.
FIG. 3 is a schematic diagram of an experimental system for implementing a method for suppressing the temperature fluctuation error of an air chamber of an atomic gyroscope. The upper left corner in fig. 3 shows the associated xyz triaxial directions.
The reference numerals have the meanings: 1-pumping laser; 2-pumping laser stable power module; 3-a first half-wave plate; 4-a first photodetector; 5-a first polarization splitting prism; a 6-mirror; 7-quarter wave plates; 8-a 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 magneto-less electric heating system; 17-a three-dimensional magnetic field control coil; 18-magnetic shielding system.
Detailed Description
The invention is described below with reference to the figures (fig. 1-3) and examples.
FIG. 1 is a schematic flow chart of a method for suppressing the temperature fluctuation error of an air chamber of an atomic gyroscope according to the present invention. FIG. 2a is a graph showing the variation of the derivative of the gyroscope output signal with respect to the atomic density with respect to the detected light frequency. FIG. 2b is a graph showing the change of the optical depth with the frequency of the detected light. FIG. 3 is a schematic diagram of an experimental system for implementing a method for suppressing the temperature fluctuation error of an air chamber of an atomic gyroscope. Referring to fig. 1 to 3, a method for suppressing temperature fluctuation errors of an air chamber of an atomic gyroscope comprises heating, pumping and three-dimensional magnetic field compensation zeroing the air chamber filled with alkali metal atoms and inert gas to a working state; calibrating the coefficient of the output signal of the gyroscope along with the change of the input angular rate; then calibrating the coefficient of the output signal of the gyroscope along with the change of the temperature of the air chamber, dividing the coefficient of the output signal along with the change of 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 air chamber of the gyroscope to zero by adjusting the optical depth of the alkali metal atoms to the detection light for a plurality of times, so that the output signal of the gyroscope is not sensitive to the fluctuation of the air chamber temperature, and thus, the angular rate measurement error of the gyroscope caused by the fluctuation of the air chamber temperature is restrained.
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 gyroscope out Linear relation with inertial input angular rate omega, V out ＝K 1 Ω+b 1 Wherein K is 1 B is the proportionality coefficient of the gyroscope output signal changing along with the input angular rate 1 For the output bias signal of the gyroscope in no angular rate input, the proportionality coefficient K is recorded 1 The method comprises the steps of carrying out a first treatment on the surface of the Step 2, after the gyroscope reaches a working state, changing a temperature set value T of the air chamber, and testing to obtain an output signal V of the gyroscope out Linear relation with chamber temperature T, V out ＝K 2 T+b 2 Wherein K is 2 B is the proportionality coefficient of the gyroscope output signal changing along with the temperature of the air chamber 2 For the bias signal of gyroscope along with the temperature change of air chamber, recording the proportionality coefficient K 2 The method comprises the steps of carrying out a first treatment on the surface of the Step 3, calculating the sensitivity coefficient of the output signal of the gyroscope to the temperature fluctuation of the air chamber as K T ＝K 2 /K 1 The method comprises the steps of carrying out a first treatment on the surface of the And 4, changing the optical depth of the alkali metal atoms to the detection light by adjusting the frequency of the detection light, and repeating the steps 1-3 to calibrate the temperature sensitivity coefficient of the air chamber until the temperature sensitivity coefficient of the air chamber is zero, wherein the output signal of the gyroscope is not sensitive to the fluctuation of the temperature of the air chamber.
The gyroscope adopts pumping and detection orthogonal light paths, wherein pumping light is circularly polarized light for polarizing atoms, detection light is linearly polarized light, and inertial measurement information is extracted by utilizing the angle of rotation of a linear polarization plane after the linearly polarized light passes through the air chamber. The temperature of the air chamber is controlled in a closed loop by adopting a control circuit and an algorithm, so that the temperature of the air chamber reaches a stable state faster. In the step 1 and the step 2, a linear least square fitting method is adopted, and a linear relation between a steady-state bias signal and the temperature and angular rate input of the air chamber is obtained through fitting. The adjusting 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. The result of the optical depth adjustment is that the optical depth satisfies the following condition:
in the formula, OD (v) optical depth, R p In order to achieve a pumping rate,for spin-exchange destructive collision relaxation of electron spin and nuclear spin, +.>Collision relaxation is destroyed for spin exchange between electron spins.
The principle of the invention is as follows: by adopting an optical path structure in which the detection light is orthogonal to the pumping light, the output signal V of the gyroscope detected by the gyroscope in the x direction is obtained assuming that the detection light is along the x direction out The method comprises the following steps:
V out ＝ηM ac I 0 θe -OD(ν) (1)
where η is the photoelectric conversion efficiency of the detector; m is M ac Is the preamplifier gain; i 0 Is the intensity of the detected light; θ is the rotation angle, which can reflect the change of the carrier angular rate; OD (v) is the optical depth, which is a function of the detected light frequency, describing the attenuation capability of an alkali metal plenum to incident light, and the expression of the optical depth OD (v) is:
wherein l is the optical path of the detection light passing through the gas chamber, n is the atomic density, r e Is the electron radius, c is the speed of light, f D1 Is the oscillation intensity of the D1 line of the alkali metal atom, v pr To detect the optical frequency, v D1 Is the resonance frequency of the D1 line of the alkali metal atom Γ D1 Is the pressure broadening of the D1 line of alkali metal atoms in the buffer gas. The fluctuation of the temperature of the air chamber can cause the fluctuation of the atomic density, thereby causing the fluctuation of parameters such as the atomic relaxation rate, the atomic polarization rate, the rotation angle, the optical depth and the like, and finally causing the fluctuation of the output signal of the gyroscope. The fluctuation of the temperature of the air cell has an adverse effect on the sensitivity and long-term stability of the gyroscope. Combining equation (1) and equation (2), combining the output signal V of the gyroscope out Deriving the atomic density n, and the expression is as follows:
wherein, gamma e And gamma n The gyromagnetic ratio, D (v), of the electron spin and the nuclear spin, respectively, is a function of the detected optical frequency, R p In order to achieve a pumping rate,for spin-exchange-destructive collision relaxation between electron spins, +.>For spin-exchange destructive collision relaxation of electron spin and nuclear spin, +.>Is the total relaxation rate of the electron spin. From the above formula, when +.>At the time of gyroThe derivative of the output to the atomic density is 0, and the output of the gyroscope is insensitive to the fluctuation of the atomic density, namely the output of the gyroscope is insensitive to the fluctuation of the temperature of the air chamber. When the derivative is 0, the optical depth OD (v) satisfies the following condition:
as is clear 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 fluctuations in the temperature of the air chamber by adjusting the detection light frequency, thereby suppressing the influence of the fluctuations in the temperature of the air chamber on the gyroscope.
As shown in fig. 1, a flow chart of the method of the present invention is shown.
The specific implementation steps of the invention are as follows:
(1) As shown in the experimental system schematic diagram of fig. 3, the air chamber 15 is heated to the working temperature by the magneto-electric heating system 16, the geomagnetic signal is shielded by the magnetic shielding system 18, the pumping laser 1 stabilizes the light intensity by the pumping laser stabilizing power module 2, the light received by the first photoelectric detector 4 is used as feedback light, the light is polarized by the first half wave plate 3 and the first polarization splitting prism 5, the light is changed into circularly polarized light by the reflecting mirror 6 and the quarter wave plate 7, and the circularly polarized pumping laser polarizes atoms along the z-axis. The detection laser 8 is used for stabilizing the light intensity by taking the light received by the second photoelectric detector 11 as feedback light through the detection laser stabilizing power module 9, is changed into linear polarized light through the second half wave plate 10 and the second polarization splitting prism 12, passes through the air chamber 15 along the x-axis direction, and detects Faraday rotation signals generated by atoms in the air chamber 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 gyroscope out Linear relation with inertial input angular rate omega, V out ＝K 1 Ω+b 1 Wherein K is 1 Output signal for gyroscope as a function of input angular rateScaling factor of b 1 For the output bias signal of the gyroscope in no angular rate input, the proportionality coefficient K is recorded 1 。
(3) When the gyroscope reaches a working state, changing the temperature set value T of the air chamber, and testing to obtain an output signal V of the gyroscope out Linear relation with chamber temperature T, V out ＝K 2 T+b 2 Wherein K is 2 B is the proportionality coefficient of the gyroscope output signal changing along with the temperature of the air chamber 2 For the bias signal of gyroscope along with the temperature change of air chamber, recording the proportionality coefficient K 2 。
(4) Calculating the sensitivity coefficient of the output signal of the gyroscope to the temperature fluctuation of the air chamber as K T ＝K 1 /K 2 。
(5) The change of the detection light frequency reduces the temperature sensitivity coefficient of the air chamber of the gyroscope, and the curve of the derivative of the output signal of the gyroscope on the atomic density along with the change of the detection light frequency is shown in figure 2a, which reflects the relation of the temperature sensitivity coefficient of the air chamber of the gyroscope along with the change of the detection light frequency. The curve of the change of the optical depth of the alkali metal atom to the detection light along with the frequency of the detection light is shown in fig. 2B, when the frequency of the detection light is adjusted to the point a and the point B in fig. 2a, the sensitivity coefficient of the temperature of the air chamber of the gyroscope is zero, the gyroscope is insensitive to the fluctuation of the temperature of the air chamber, and the expression of the optical depth corresponding to the point a and the point B is as follows:
in the step (1), the gyroscope adopts pumping and detection orthogonal light paths, wherein pumping light is circularly polarized light for polarizing atoms, detection light is linearly polarized light, and inertial measurement information is extracted by utilizing the angle of rotation of a linear polarization plane after the linearly polarized light passes through the air chamber.
In the step (1), a control circuit and an algorithm are adopted to carry out closed-loop control on the temperature of the air chamber, so that the temperature of the air chamber reaches a stable state relatively quickly.
In the step (2) and the step (3), a linear least square fitting method is adopted, and a linear relation between a steady-state bias signal of the gyroscope and the temperature and angular rate input of the air chamber is obtained through fitting.
In 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 through the alkali metal gas cell.
What is not described in detail in the present specification belongs to the prior art known to those skilled in the art. It is noted that the above description is helpful for a person skilled in the art to understand the present invention, but does not limit the scope of the present invention. Any and all such equivalent substitutions, modifications and/or deletions as may be made without departing from the spirit and scope of the invention.
Claims (7)
1. A method for suppressing the air chamber temperature fluctuation error of an atomic gyroscope is characterized in that an air chamber filled with alkali metal atoms and inert gas is heated, pumped and three-dimensional magnetic field compensation is reset to reach a working state; calibrating the coefficient of the output signal of the gyroscope along with the change of the input angular rate; then calibrating the coefficient of the output signal of the gyroscope along with the change of the temperature of the air chamber, dividing the coefficient of the output signal along with the change of 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 air chamber of the gyroscope to zero by adjusting the optical depth of the alkali metal atoms to the detection light for a plurality of times, so that the output signal of the gyroscope is not sensitive to the fluctuation of the air chamber temperature, and thus, the angular rate measurement error of the gyroscope caused by the fluctuation of the air chamber temperature is restrained.
2. The method for suppressing the temperature fluctuation error of the gas cell 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 gyroscope out Linear relation with inertial input angular rate omega, V out ＝K 1 Ω+b 1 Wherein K is 1 B is the proportionality coefficient of the gyroscope output signal changing along with the input angular rate 1 For the output bias signal of the gyroscope in no angular rate input, the proportionality coefficient K is recorded 1 ；
Step 2, after the gyroscope reaches a working state, changing a temperature set value T of the air chamber, and testing to obtain an output signal V of the gyroscope out Linear relation with chamber temperature T, V out ＝K 2 T+b 2 Wherein K is 2 B is the proportionality coefficient of the gyroscope output signal changing along with the temperature of the air chamber 2 For the bias signal of gyroscope along with the temperature change of air chamber, recording the proportionality coefficient K 2 ；
Step 3, calculating the sensitivity coefficient of the output signal of the gyroscope to the temperature fluctuation of the air chamber as K T ＝K 2 K 1 ；
And 4, changing the optical depth of the alkali metal atoms to the detection light by adjusting the frequency of the detection light, and repeating the steps 1-3 to calibrate the temperature sensitivity coefficient of the air chamber until the temperature sensitivity coefficient of the air chamber is zero, wherein the output signal of the gyroscope is not sensitive to the fluctuation of the temperature of the air chamber.
3. The method for suppressing the temperature fluctuation error of a gas cell of an atomic gyroscope according to claim 1, wherein the gyroscope uses a pumping and detecting orthogonal optical paths, wherein pumping light is circularly polarized light for polarizing atoms, detecting light is linearly polarized light, and inertial measurement information is extracted by using an angle of rotation of a linear polarization plane after the linearly polarized light passes through the gas cell.
4. The method for suppressing the fluctuation error of the temperature of the air chamber of the atomic gyroscope according to claim 1, wherein the temperature of the air chamber is controlled in a closed loop by adopting a control circuit and an algorithm, so that the temperature of the air chamber reaches a stable state faster.
5. The method for suppressing the air chamber temperature fluctuation error 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 an output signal of the gyroscope and air chamber temperature and angular rate input 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 adjusting the optical depth of the alkali metal atom to the detection light includes adjusting the optical depth by adjusting the temperature of the gas cell or changing the optical path of the detection light through the alkali metal gas cell or adjusting the frequency of the detection light.
7. The method for suppressing the temperature fluctuation error of the gas cell of the atomic gyroscope according to claim 1, wherein the result of the optical depth adjustment is such that the optical depth satisfies the following condition:
in the formula, OD (v) optical depth, R p In order to achieve a pumping rate,for spin-exchange destructive collision relaxation of electron spins with nuclear spins,collision relaxation is destroyed for spin exchange between electron spins.
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