CN113959425B - Method for inhibiting residual rotation light angle of atomic spin gyroscope - Google Patents
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Abstract
A method for restraining residual rotation light angle of atomic spin gyroscope includes sending out detection laser from detection laser, changing detection laser into linear polarized light after passing through optical isolator ISO, polarizer, 1/2 wave plate and analyzer in sequence, entering alkali metal air chamber, emitting out linear polarized light carrying angular rate information through small hole on magnetic shielding layer after air chamber is out, dividing emitted detection light into two independent beams of detection light through liquid crystal phase retarder and Wollaston prism, receiving two beams of detection light by two photo detectors respectively, transmitting two beams of detection light to data processing unit through phase-locked amplifier, controlling detection laser by data processing unit through laser tube temperature controller, controlling liquid crystal phase retarder by liquid crystal controller to restrain residual rotation angle, reducing bias of gyro signal, raising zero bias stability of gyroscope and raising comprehensive performance of gyroscope.
Description
Technical Field
The invention relates to an output signal error compensation technology of an atomic spin gyroscope, in particular to a method for inhibiting the residual rotating light angle of the atomic spin gyroscope.
Background
Atomic Spin inertial measurement meters based on Spin-Exchange Relaxation-Free (SERF) have the potential to achieve higher or smaller volumes with the same volume than traditional inertial measurement meters, and thus have attracted extensive research interest. Zero bias stability is an important index for evaluating gyroscope performance, and scale factor error is one of important error terms for limiting the zero bias stability of a SERF gyroscope.
In a SERF atomic spin gyroscope, reducing the bias magnitude of the atomic spin precession signal is one of the methods for improving the gyroscope scale factor error, because when the output bias of the gyroscope is not zero, the optical power fluctuation can introduce the scale factor error, and the improvement of the zero bias stability of the gyroscope is limited. The method for adjusting the offset is mostly to rotationally install the optical axis direction of a 1/2 wave plate in front of the Wollaston prism of the detection light path so as to compensate the output offset of the gyroscope. The method has the defects that the signal bias can be adjusted only under the fixed wavelength of the detection laser, the bias adjustment can not completely eliminate the residual rotation angle (or referred to as the residual rotation angle) in the detection light path, and the method does not give theoretical unified adjustment standard.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for inhibiting the residual rotation angle of an atomic spin gyroscope, which is used for carrying out temperature scanning on detection laser, estimating the residual rotation angle according to an output gyroscope signal, and controlling a liquid crystal phase retarder through feedback of a liquid crystal controller so as to reduce the bias of the gyroscope signal and further improve the zero bias stability of the gyroscope.
The technical scheme of the invention is as follows:
a method for inhibiting the residual rotation light angle of an atomic spin gyroscope is characterized in that a liquid crystal phase retarder is arranged on a detection light path between an alkali metal air chamber and a Wollaston prism, and the liquid crystal phase retarder adjusts the detection light phase according to a feedback control signal formed by a gyroscope output signal so as to inhibit the residual rotation light angle.
The detection light passing through the alkali metal gas cell is linearly polarized light, which carries the rotation angle information due to the existence of angular rate input, and the residual rotation angle is the residual rotation angle caused by optical devices and/or optical path collimation.
The liquid crystal phase delayer is connected with the data processing unit through the liquid crystal controller, the data processing unit is respectively connected with the phase-locked amplifier and the laser tube temperature controller, the laser tube temperature controller is connected with the detection laser, the phase-locked amplifier is respectively connected with the first photoelectric detector and the second photoelectric detector, the first photoelectric detector receives a first beam of detection light emitted by the Wollaston prism, the second photoelectric detector receives a second beam of detection light emitted by the Wollaston prism, the phase-locked amplifier demodulates according to the first beam of detection light signals and the second beam of detection light signals to obtain detection light first harmonic signal amplitude, the signal amplitude is a gyroscope output signal, the detection light first harmonic signal amplitude is fed back to the liquid crystal controller as feedback quantity, and the liquid crystal controller realizes PID control on the liquid crystal phase delayer so as to inhibit a residual rotation angle.
The detection laser is sequentially connected with the alkali metal gas chamber through a first optical isolator ISO, a first polarizer, a first 1/2 wave plate and an analyzer, the alkali metal gas chamber is provided with a magnetic shielding layer, and a detection light transmission hole is formed in the magnetic shielding layer.
The pumping light path of the alkali metal gas chamber comprises a pumping laser, and the pumping laser is connected with the alkali metal gas chamber through a second optical isolator ISO, a second 1/2 wave plate and a second polarizer in sequence.
The method specifically comprises the following steps:
step 1, rapidly scanning the temperature of a detection laser by using a laser tube temperature controller, thereby realizing the frequency scanning function of the detection laser;
step 2, after the linearly polarized light transmitted through the alkali metal air chamber passes through the liquid crystal phase retarder, the linearly polarized light is divided into two beams of detection light through the Wollaston prism and is received by different photoelectric detectors respectively;
step 3, the output signals of the two photodetectors are connected with the same phase-locked amplifier, the phase-locked amplifier demodulates to obtain the first harmonic signal amplitude of the detection light, and the signal amplitude is the output signal of the gyroscope;
and 4, in order to enable the linearly polarized light passing through the alkali metal gas chamber in the step 1 not to contain residual rotation angle caused by optical devices and/or optical path collimation, performing closed-loop control on the phase of the detection light emitted from the alkali metal gas chamber, using the amplitude of the first harmonic signal of the detection light obtained by demodulation of a phase-locked amplifier as a feedback quantity, using a liquid crystal controller to realize PID control on a liquid crystal phase retarder, and further inhibiting the residual rotation angle.
The method comprises the steps of estimating a residual rotation angle theta' of a detection light path through laser sweep:
the output signal S of the atomic spin precession system, when there is no residual spin angle, is expressed as:
S＝K amp I 0 e -OD θ
wherein K is amp Taking a constant value for a coefficient irrelevant to the intensity and frequency of the detection laser in the gyroscope; i 0 In order to detect the light intensity, e is a natural constant, OD is the optical depth corresponding to the Rb atom D1 line detection light passing through the polarized alkali metal air chamber, θ is the linear polarization rotation angle, and the external input angular rate can be obtained by measuring θ; the above equation is modified as:
S＝K amp I 0 e -OD ((θ+θ')
continuing to develop and simplify to obtain the following formula:
S＝K 1 (v)Ω y +K 2 (v)b(v)+K 3 (v)θ'
wherein K is 1 (v) is the scale factor of the external input angular rate, Ω y For angular rate, K, of external input 2 (v) B (v) is a term related to light absorption and optical frequency shift, K 3 (v) A scale factor that is the residual rotation angle θ';
under the condition of knowing all parameters of the atomic spin gyroscope, the residual spin angle contained in the current gyroscope signal is estimated through the detection light absorption spectrum obtained by detecting the sweep frequency of the laser.
The invention has the following technical effects: compared with the existing method for regulating the signal bias of the spinning gyroscope, the method for inhibiting the residual rotating optical angle of the atomic spin gyroscope can separate the optical angle positively related to the input angular rate and the residual optical angle caused by optical devices and optical path collimation in principle, can effectively reduce the influence of background noise such as optical power fluctuation, temperature fluctuation and the like on detection results, and improves the zero bias stability of the SERF atomic spin gyroscope. The method can realize the function of inhibiting the residual rotating light angle by replacing the 1/2 wave plate with the liquid crystal phase retarder on the basis of the original light path, can greatly reduce the complexity of the light path and is beneficial to the miniaturization of the system.
The invention provides a method for inhibiting residual rotation light angle of an atomic spin gyroscope, which is characterized in that detection laser is emitted from a detection laser, the detection laser sequentially passes through an optical isolator ISO, a polarizer, a 1/2 wave plate and an analyzer and then becomes linearly polarized light to enter an alkali metal air chamber, the linearly polarized light carrying angular rate information exits the air chamber and then is emitted through a small hole on a magnetic shielding layer, the emitted detection light is divided into two independent detection lights through a liquid crystal phase retarder and a Wollaston prism and is respectively received by two photoelectric detectors and then is transmitted to a data processing unit through a phase-locking amplifier, the data processing unit controls the detection laser through a laser tube temperature controller, and the liquid crystal phase retarder is controlled through a liquid crystal controller so as to inhibit the residual rotation light angle, reduce the bias of a gyroscope signal, improve the zero bias stability of the gyroscope and improve the comprehensive performance of the gyroscope.
Drawings
FIG. 1 is a schematic diagram of the structural principle of an atomic spin gyroscope system for implementing a method for suppressing the residual rotation light angle of the atomic spin gyroscope.
The reference numerals are listed below: 1-a detection laser; 2-a first optical isolator ISO (optical isolator); 3-a first polarizer; 4-a first 1/2 wave plate; 5-an analyzer; 6-alkali metal plenum; 7-a magnetic shielding layer; an 8-liquid crystal phase retarder; a 9-Wollaston prism; 10-a first photodetector; 11-a second photodetector; a 12-lock-in amplifier; 13-a data processing unit; 14-a laser tube temperature controller; 15-a liquid crystal controller; 16-pumping laser; 17-a second optical isolator ISO; 18-a second 1/2 wave plate; 19-a second polarizer. xyz-coordinate axis.
Detailed Description
The invention is described below with reference to the accompanying drawings (fig. 1) and examples.
FIG. 1 is a schematic diagram of the structural principle of an atomic spin gyroscope system for implementing a method for suppressing the residual rotation light angle of the atomic spin gyroscope. Referring to fig. 1, a method for suppressing the residual spin angle of an atomic spin gyroscope is characterized in that a liquid crystal phase retarder 8 is arranged on a detection optical path between an alkali metal gas chamber 6 and a wollaston prism 9, and the liquid crystal phase retarder 8 adjusts the detection optical phase according to a feedback control signal formed by a gyroscope output signal to suppress the residual spin angle. The detection light passing through the alkali metal cell 6 is linearly polarized light, which carries the rotation angle information due to the presence of the angular rate input, the residual rotation angle being the residual rotation angle caused by optics and/or optical path collimation.
The liquid crystal phase retarder 8 is connected with the data processing unit 13 through the liquid crystal controller 15, the data processing unit 13 is respectively connected with the lock-in amplifier 12 and the laser tube temperature controller 14, the laser tube temperature controller 14 is connected with the detection laser 1, the lock-in amplifier 12 is respectively connected with the first photoelectric detector 10 and the second photoelectric detector 11, the first photoelectric detector 10 receives a first beam of detection light emitted by the Wollaston prism 9, the second photoelectric detector 11 receives a second beam of detection light emitted by the Wollaston prism 9, the lock-in amplifier 12 demodulates according to the first beam of detection light signal and the second beam of detection light signal to obtain a first harmonic signal amplitude of detection light, the first harmonic signal amplitude of detection light is a gyroscope output signal, the first harmonic signal amplitude of detection light is fed back to the liquid crystal controller 15 as feedback quantity, and the liquid crystal controller 15 controls the liquid crystal phase retarder 8 (PID, proportion Integration Differentiation, proportional integral differential) to further inhibit residual rotation angle.
The detection laser 1 is connected with the alkali metal gas chamber 6 sequentially through the first optical isolator ISO2, the first polarizer 3, the first 1/2 wave plate 4 and the analyzer 5, the alkali metal gas chamber 6 is provided with a magnetic shielding layer 7, and a detection light transmission hole is formed in the magnetic shielding layer 7. The pumping light path of the alkali metal gas cell 6 comprises a pumping laser 16, and the pumping laser 16 is connected with the alkali metal gas cell 6 through a second optical isolator ISO17, a second 1/2 wave plate 18 and a second polarizer 19 in sequence.
The method specifically comprises the following steps: step 1, rapidly scanning the temperature of a detection laser by using a laser tube temperature controller, thereby realizing the frequency scanning function of the detection laser; step 2, after the linearly polarized light transmitted through the alkali metal air chamber passes through the liquid crystal phase retarder, the linearly polarized light is divided into two beams of detection light through the Wollaston prism and is received by different photoelectric detectors respectively; step 3, the output signals of the two photodetectors are connected with the same phase-locked amplifier, the phase-locked amplifier demodulates to obtain the first harmonic signal amplitude of the detection light, and the signal amplitude is the output signal of the gyroscope; and 4, in order to enable the linearly polarized light passing through the alkali metal gas chamber in the step 1 not to contain residual rotation angle caused by optical devices and/or optical path collimation, performing closed-loop control on the phase of the detection light emitted from the alkali metal gas chamber, using the amplitude of the first harmonic signal of the detection light obtained by demodulation of a phase-locked amplifier as a feedback quantity, using a liquid crystal controller to realize PID control on a liquid crystal phase retarder, and further inhibiting the residual rotation angle.
The method comprises the steps of estimating a residual rotation angle theta' of a detection light path through laser sweep: the output signal S of the atomic spin precession system, when there is no residual spin angle, is expressed as: s=k amp I 0 e -OD θ
Wherein K is amp Taking a constant value for a coefficient irrelevant to the intensity and frequency of the detection laser in the gyroscope; i 0 In order to detect the light intensity, e is a natural constant, OD is the optical depth corresponding to the Rb atom D1 line detection light passing through the polarized alkali metal air chamber, θ is the linear polarization rotation angle, and the external input angular rate can be obtained by measuring θ; the above equation is modified as: s=k amp I 0 e -OD (θ+θ′)
Continuing to develop and simplify to obtain the following formula: s=k 1 (ν)Ω y +K 2 (ν)b(ν)+K 3 (ν)θ′
Wherein K is 1 (v) Inputting the scale factor of the angular rate to the outside, omega y For angular rate, K, of external input 2 (v) B (v) is a term related to light absorption and optical frequency shift, K 3 (v) is the scale factor of the residual spin angle θ';
under the condition of knowing all parameters of the atomic spin gyroscope, the residual spin angle contained in the current gyroscope signal is estimated through the detection light absorption spectrum obtained by detecting the sweep frequency of the laser.
The invention provides a method for inhibiting the residual rotation light angle of an atomic spin gyroscope. The detection laser emits from the detection laser 1, the detection laser sequentially passes through an optical isolator ISO2, a polarizer 3, a 1/2 wave plate 4 and an analyzer 5 and then becomes linearly polarized light, the linearly polarized light enters an alkali metal air chamber 6, the linearly polarized light carrying angular rate information exits the air chamber and then exits through a small hole on a magnetic shielding layer 7, the exiting detection light is divided into two independent detection lights (P light and S light) through a liquid crystal phase retarder 8 and a Wollaston prism 9 and is respectively received by a photoelectric detector 10 and a photoelectric detector 11, the output ends of the photoelectric detector 10 and the photoelectric detector 11 are connected with a phase-locked amplifier 12, the output end of the phase-locked amplifier 12 is connected with a data processing unit 13, the data processing unit 13 is connected with a laser tube temperature controller 14 and a liquid crystal controller 15, the laser tube temperature controller 14 is connected with the detection laser 1, and the liquid crystal controller is connected with the liquid crystal phase retarder 8. According to the method, the temperature of the laser tube is detected by scanning, a detected light absorption spectrum signal is output, the residual rotation angle in a detection light path caused by problems of optical devices, light path collimation and the like is estimated through the data processing unit, and finally the liquid crystal controller is used for controlling the liquid crystal phase retarder to inhibit the residual rotation angle.
The estimation of the residual spin angle comprises the following steps:
(1) The laser tube temperature controller scans the temperature of the detection laser rapidly, and then the frequency scanning function of the detection laser is realized.
(2) The linearly polarized light transmitted through the alkali metal air chamber is divided into two beams of detection light through the Wollaston prism after passing through the liquid crystal phase retarder, and the two beams of detection light are respectively received by different detectors.
(3) The output signals of the two detectors are connected with the same phase-locked amplifier and are used for demodulating to obtain the first harmonic signal amplitude of the detection light, and the signal amplitude is the output signal of the gyroscope.
(4) In order to make the linearly polarized light passing through the air chamber in the step (1) not contain the residual rotation angle caused by the collimation of the optical device and the optical path, the phase of the detected light of the air outlet chamber needs to be controlled in a closed loop. And using the amplitude of the first harmonic signal of the detection light obtained by demodulation of the phase-locked amplifier as a feedback quantity, and using a liquid crystal control system to realize PID control on the liquid crystal phase retarder so as to inhibit the residual rotation angle.
The output signal S of the atomic spin precession system, when there is no residual spin angle, is expressed as:
S＝K amp I 0 e -OD θ
wherein K is amp ＝ηM ac α m Is the coefficient irrelevant to the intensity and frequency of the detection laser in the gyroscope, eta is the photoelectric conversion efficiency of the detector, M ac Alpha is the gain of the preamplifier m To modulate amplitude, K is generally considered to be amp Is a constant value. I 0 In order to detect the laser intensity, e is a natural constant, OD is the optical depth corresponding to the Rb atom D1 line detection light passing through the polarized alkali metal air chamber, θ is the linear polarization rotation angle, and the external input angular rate can be obtained by measuring the parameter. In practical engineering, when the detection light passes through a series of optics and gas cells, a residual rotation angle θ' inevitably occurs, and considering this effect, the above can be written as:
S＝K amp I 0 e -OD (θ+θ′)
the above method can be written as:
S＝K 1 (v)Ω y +K 2 (v)b(v)+K 3 (v)θ'
wherein K is 1 (v) Inputting the scale factor of the angular rate to the outside, omega y For angular rate, K, of external input 2 (v) Is light-absorbingThe scale factor of the term of the phase shift of the received light and the frequency of the light, b (v) is the term of the phase shift of the light and the frequency of the light, K 3 (v) And θ' is the scale factor of the residual rotation angle.
Under the condition of knowing various parameters of the SERF gyroscope, the residual rotation angle contained in the current gyroscope signal can be estimated by using the detection light absorption spectrum obtained by detecting laser sweep frequency.
In a word, the method can effectively reduce the influence of background noise such as optical power fluctuation and temperature fluctuation on a detection result and improve the zero bias stability of the SERF atomic spin gyroscope. The method can realize the function of inhibiting the residual rotating light angle by replacing the 1/2 wave plate with the liquid crystal phase retarder on the basis of the original light path, can greatly reduce the complexity of the light path and is beneficial to the miniaturization of the system.
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 (5)
1. The method for inhibiting the residual rotation light angle of the atomic spin gyroscope is characterized in that a liquid crystal phase retarder is arranged on a detection light path between an alkali metal air chamber and a Wollaston prism, and the liquid crystal phase retarder adjusts the detection light phase according to a feedback control signal formed by a gyroscope output signal so as to inhibit the residual rotation light angle;
the detection light passing through the alkali metal gas chamber is linearly polarized light, and due to the existence of angular rate input, the linearly polarized light carries optical rotation angle information, and the residual optical rotation angle is the residual optical rotation angle caused by optical devices and/or optical path collimation;
the liquid crystal phase delayer is connected with the data processing unit through the liquid crystal controller, the data processing unit is respectively connected with the phase-locked amplifier and the laser tube temperature controller, the laser tube temperature controller is connected with the detection laser, the phase-locked amplifier is respectively connected with the first photoelectric detector and the second photoelectric detector, the first photoelectric detector receives a first beam of detection light emitted by the Wollaston prism, the second photoelectric detector receives a second beam of detection light emitted by the Wollaston prism, the phase-locked amplifier demodulates according to the first beam of detection light signals and the second beam of detection light signals to obtain detection light first harmonic signal amplitude, the signal amplitude is a gyroscope output signal, the detection light first harmonic signal amplitude is fed back to the liquid crystal controller as feedback quantity, and the liquid crystal controller realizes PID control on the liquid crystal phase delayer so as to inhibit a residual rotation angle.
2. The method of suppressing the residual spin optical angle of an atomic spin gyroscope according to claim 1, wherein the detection laser is connected to the alkali metal gas cell sequentially through a first optical isolator ISO, a first polarizer, a first 1/2 wave plate and an analyzer, the alkali metal gas cell having a magnetic shielding layer on which a detection light transmission hole is provided.
3. The method of suppressing the residual spin optical angle of an atomic spin gyroscope according to claim 1, wherein the pumping optical path of the alkali metal cell comprises a pumping laser connected to the alkali metal cell sequentially through a second optical isolator ISO, a second 1/2 wave plate and a second polarizer.
4. The method for suppressing the residual spin light angle of an atomic spin gyroscope according to claim 1, comprising the specific steps of:
step 1, rapidly scanning the temperature of a detection laser by using a laser tube temperature controller, thereby realizing the frequency scanning function of the detection laser;
step 2, after the linearly polarized light transmitted through the alkali metal air chamber passes through the liquid crystal phase retarder, the linearly polarized light is divided into two beams of detection light through the Wollaston prism and is received by different photoelectric detectors respectively;
step 3, the output signals of the two photodetectors are connected with the same phase-locked amplifier, the phase-locked amplifier demodulates to obtain the first harmonic signal amplitude of the detection light, and the signal amplitude is the output signal of the gyroscope;
and 4, in order to enable the linearly polarized light passing through the alkali metal gas chamber in the step 1 not to contain residual rotation angle caused by optical devices and/or optical path collimation, performing closed-loop control on the phase of the detection light emitted from the alkali metal gas chamber, using the amplitude of the first harmonic signal of the detection light obtained by demodulation of a phase-locked amplifier as a feedback quantity, using a liquid crystal controller to realize PID control on a liquid crystal phase retarder, and further inhibiting the residual rotation angle.
5. The method of suppressing residual spin angle of an atomic spin gyroscope according to claim 1, comprising estimating a residual spin angle θ' of a detection light path by laser sweep:
the output signal S of the atomic spin precession system, when there is no residual spin angle, is expressed as:
S＝K amp I 0 e -OD θ
wherein K is amp Taking a constant value for a coefficient irrelevant to the intensity and frequency of the detection laser in the gyroscope; i 0 In order to detect the light intensity, e is a natural constant, OD is the optical depth corresponding to the Rb atom D1 line detection light passing through the polarized alkali metal air chamber, θ is the linear polarization rotation angle, and the external input angular rate can be obtained by measuring θ; the above equation is modified as:
S＝K amp I 0 e -OD (θ+θ′)
continuing to develop and simplify to obtain the following formula:
S＝K 1 (v)Ω y +K 2 (v)b(v))+K 3 (v)θ′
wherein K is 1 (v) Inputting the scale factor of the angular rate to the outside, omega y For angular rate, K, of external input 2 (v) For scale factors related to light absorption and light frequency shiftB (v) is a term related to light absorption and optical frequency shift, K 3 (v) A scale factor that is the residual rotation angle θ';
under the condition of knowing all parameters of the atomic spin gyroscope, the residual spin angle contained in the current gyroscope signal is estimated through the detection light absorption spectrum obtained by detecting the sweep frequency of the laser.
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| Common-mode noise reduction in an atomic spin gyroscope using optical differential detection;Duan Lihong et al.;《APPLIED OPTICS》;第56卷(第27期);7734-7740 * |
| SERF原子磁强计用半导体激光器驱动系统;王飞虎;胡朝晖;刘全普;刘欣;;激光杂志(第03期);56-62 * |
| 惯性技术计量领域若干问题的思考与展望;叶文等;《计量科学与技术》;第65卷(第3期);9-14 * |
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