CN114413873B - Inertial measurement device based on atomic gyroscope and installation method thereof - Google Patents
Inertial measurement device based on atomic gyroscope and installation method thereof Download PDFInfo
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- CN114413873B CN114413873B CN202111506607.3A CN202111506607A CN114413873B CN 114413873 B CN114413873 B CN 114413873B CN 202111506607 A CN202111506607 A CN 202111506607A CN 114413873 B CN114413873 B CN 114413873B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
Abstract
The invention relates to an inertial measurement device based on an atomic gyroscope, which realizes synchronous measurement of full inertial quantity through combination of three atomic gyroscopes; the device comprises a laser generating system, a sensitive unit and an electrical control unit; the sensing unit comprises a mounting rigid body and three atom gyroscopes, wherein the mounting rigid body is provided with three mounting planes which are orthogonal in pairs, each atom gyroscope is provided with a sensitive one-dimensional angular velocity direction and a sensitive one-dimensional linear acceleration vector direction, the three atom gyroscopes are correspondingly mounted on the three mounting planes respectively, the sensitive angular velocity directions of the three atom gyroscopes are orthogonal in pairs, the sensitive linear acceleration vector directions of the three atom gyroscopes are along the Raman light direction of the atom gyroscopes and are orthogonal in pairs, and a space rectangular coordinate system formed by the three angular velocity directions is completely consistent with a space rectangular coordinate system formed by the three linear acceleration vector directions; the electrical control unit is electrically connected with the laser generating system; and a method of installing the inertial measurement unit.
Description
Technical Field
The invention relates to the field of inertial positioning devices, in particular to an inertial measurement device based on an atomic gyroscope and an installation method thereof.
Background
The atomic inertial measurement device is characterized in that an atomic gyroscope and an atomic accelerometer with high precision are used for respectively measuring angular velocity and linear acceleration, and the high-precision output of information such as carrier position, velocity, gesture, azimuth and the like is realized through an inertial navigation principle.
With the continuous development of the atomic interferometry in recent years, the measurement accuracy is further improved, and various countries begin to explore a multi-inertial measurement scheme based on the atomic interferometry. The first time of the astronomical platform in Paris in France realizes the measurement of the full inertial quantity (three-dimensional orthogonal angular velocity and three-dimensional orthogonal linear acceleration) through time-sharing measurement; the United states Charles Stark Draper laboratory first proposed a scheme for realizing time-sharing measurement of a plurality of inertial quantities in one glass vacuum chamber; the university of Bordeaux in france proposes to realize full-inertia measurement by a group of atomic beam splitting method in a cavity for the first time, but at present, the full-inertia measurement is only at a principle level, and no related special device and equipment can realize the full-inertia measurement.
Disclosure of Invention
Based on the expression, the invention provides an inertial measurement device based on an atomic gyroscope, which realizes synchronous measurement of full inertial quantity through combination of three atomic gyroscopes and provides an installation method of the inertial measurement device.
The technical scheme for solving the technical problems is as follows:
an inertial measurement device based on an atomic gyroscope is characterized by comprising a laser generation system, a sensitive unit and an electrical control unit;
the laser generation system is used for generating all lasers in the atomic control process;
the sensing unit comprises an installation rigid body and three atom gyroscopes, wherein the installation rigid body is provided with three installation planes which are orthogonal in pairs, each atom gyroscope is provided with a sensitive one-dimensional angular velocity direction and a sensitive one-dimensional linear acceleration vector direction, the three atom gyroscopes are respectively and correspondingly installed on the three installation planes, the sensitive angular velocity directions of the three atom gyroscopes are orthogonal in pairs, the sensitive linear acceleration vector directions of the three atom gyroscopes are along the Raman light direction of the atom gyroscope and are orthogonal in pairs, and a space rectangular coordinate system formed by the three angular velocity directions is completely consistent with a space rectangular coordinate system formed by the three linear acceleration vector directions;
the electric control unit is electrically connected with the laser generating system and is used for controlling laser and a magnetic field.
Compared with the prior art, the technical scheme of the application has the following beneficial technical effects:
according to the method, through the special mounting structure of the three atomic gyroscopes and the mounting rigid body, the six-inertial-quantity orthogonal synchronous measurement is realized by combining a common laser technology, the full-inertial-quantity synchronous measurement based on the atomic gyroscopes is realized for the first time, and a foundation is laid for realizing the navigation function.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the linear acceleration vector direction of each atom gyroscope is perpendicular to the other installation plane, and the linear acceleration vector directions of the three atom gyroscopes are respectively perpendicular to the three different installation planes.
Further, the method is characterized in that the sensitive angular velocity of each atomic gyroscope is perpendicular to the corresponding installation plane of the atomic gyroscope.
Further, a magnetic shielding partition plate is attached to each of the mounting planes.
Further, the laser generation system comprises a generation unit and an optical path unit, wherein the generation unit comprises a cooling trapping laser generation unit, a pump-back laser generation unit, a state preparation laser generation unit and a Raman laser generation unit, the optical path unit comprises a plurality of light splitting frequency shift modules, the cooling trapping laser generation unit is used for generating cooling trapping laser, the pump-back laser generation unit is used for generating pump-back laser, the state preparation laser generation unit is used for generating ecological preparation laser, the Raman laser generation unit is used for generating Raman laser, and the light splitting frequency shift modules are used for equally dividing the cooling trapping laser into a plurality of beams.
Further, the atomic gyroscope is a double-atomic-group double-throw interference type atomic gyroscope.
The installation method of the inertial measurement device comprises the following steps:
s1, providing three atom gyroscopes and an installation rigid body with three installation planes which are orthogonal in pairs, wherein each atom gyroscope has a sensitive one-dimensional angular velocity direction and a sensitive one-dimensional linear acceleration vector direction;
s2, debugging the angular velocity of the atomic gyroscope to enable the sensitive angular velocity direction of the atomic gyroscope to be perpendicular to a plane where the atomic gyroscope is installed;
s3, respectively and correspondingly mounting the three atomic gyroscopes on three mounting planes of the mounting rigid body, and rotating the atomic gyroscopes on the mounting planes to enable the Raman light directions of the atomic gyroscopes to be perpendicular to the other mounting plane and then fixing the atomic gyroscopes;
s4, repeating the step S3, so that the Raman light directions of the three-atom gyroscopes are respectively perpendicular to different mounting planes.
Further, step S2 includes:
s21, placing the atomic gyroscope on a testing turntable, and measuring the rotation angular velocity of the atomic gyroscope and the angular velocity output by the testing turntable;
s22, adjusting the posture of the atomic gyroscope to enable the rotation angular velocity of the atomic gyroscope to be consistent with the angular velocity output by the test turntable.
Drawings
FIG. 1 is a schematic structural diagram of an inertial measurement unit based on an atomic gyroscope according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the measurement principle of the present invention;
FIG. 3 is a schematic diagram of the electrical control principle of the present invention;
fig. 4 is a schematic diagram of a second angular velocity test structure according to an embodiment of the invention.
Detailed Description
In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Examples of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that spatially relative terms, such as "under", "below", "beneath", "under", "above", "over" and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use and operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "under" or "beneath" other elements would then be oriented "on" the other elements or features. Thus, the exemplary terms "below" and "under" may include both an upper and a lower orientation. Furthermore, the device may also include an additional orientation (e.g., rotated 90 degrees or other orientations) and the spatial descriptors used herein interpreted accordingly.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. In the following embodiments, "connected" is understood to mean "electrically connected", "communicatively connected", and the like, if the connected circuits, modules, units, and the like have electrical or data transferred therebetween.
As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," and/or the like, specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.
As shown in fig. 1 to 4, an embodiment of the present application provides an inertial measurement unit based on an atomic gyro, which includes a laser generating system 1, a sensing unit 2, and an electrical control unit 3.
The laser generating system 1 is used for generating all lasers of an atomic control process.
Specifically, in this embodiment, the laser generating system 1 includes a generating unit 11 and an optical path unit 12, where the generating unit 11 includes a cooling trapping laser generating unit 111, a pump-back laser generating unit 112, a state preparation laser generating unit 113, and a raman laser generating unit 114; the cooling trapping laser generating unit 111 is used for generating cooling trapping laser, the pump-back laser generating unit 112 is used for generating pump-back laser, the state preparation laser generating unit 113 is used for generating ecological preparation laser, and the Raman laser generating unit 114 is used for generating Raman laser.
The optical path unit 12 includes a plurality of beam-splitting frequency-shifting modules 121, where the beam-splitting frequency-shifting modules 121 are configured to split the cooling trapping laser equally into a plurality of laser beams, in this embodiment, split the cooling trapping laser beam into 30 laser beams, split the state preparation laser beam into three laser beams, and split the raman laser beam into 3 laser beams.
The sensitive unit 2 comprises a mounting rigid body 21 and three atom gyroscopes 22, wherein the mounting rigid body 21 is provided with three mounting planes which are orthogonal in pairs.
Each of the atomic gyroscopes 22 has a one-dimensional angular velocity direction and a one-dimensional linear acceleration vector direction, which are sensitive, preferably, in this embodiment, the atomic gyroscopes 22 are opposite-throw interference type atomic gyroscopes, which are double-atomic-group opposite-throw interference type structures, and through differential measurement of two groups of atomic interference signals, one-dimensional angular velocity and one-dimensional linear acceleration information orthogonal to the vector directions are synchronously calculated, wherein the angular velocity vector direction is along the normal direction of a plane formed by the atomic group casting direction and the raman light direction, and the linear acceleration direction is along the raman light direction, i.e. the one-dimensional angular velocity and the one-dimensional linear acceleration vector direction which are sensitive to the opposite-throw interference type atomic gyroscopes are strictly orthogonal theoretically.
The three atom gyroscopes 22 are correspondingly arranged on the three mounting planes respectively, the angular velocity directions of the sensitivity of the three atom gyroscopes 22 are orthogonal in pairs, the linear acceleration vector directions of the sensitivity of the three atom gyroscopes 22 are orthogonal in pairs, and the space rectangular coordinate system formed by the three angular velocity directions is completely consistent with the space rectangular coordinate system formed by the three linear acceleration vector directions, namely, the angular velocity direction of the sensitivity of any atom gyroscope 22 is necessarily consistent with the linear acceleration vector direction of the sensitivity of the atom gyroscope 22.
Specifically, the direction of the linear acceleration vector of each atom gyroscope 22 is perpendicular to another installation plane, and the directions of the linear acceleration vectors of the three atom gyroscopes 22 are respectively perpendicular to three different installation planes.
The direction of the angular velocity vector of the sensitivity of each atomic top 22 is perpendicular to the corresponding installation plane of the atomic top 22.
Wherein, in order to isolate magnetic field crosstalk between the three atom gyroscopes, a magnetic shielding separator 214 is attached to each mounting plane.
Specifically, in the preferred embodiment of the present application, according to the embodiment shown in fig. 1, three atomic gyroscopes 22 are a first atomic gyro 221, a second atomic gyro 222, and a third atomic gyro 223, respectively, which are mounted on a first mounting plane 211, a second mounting plane 212, and a third mounting plane 213 of the mounting rigid body 21, respectively, wherein the first mounting plane 211, the second mounting plane 212, and the third mounting plane 213 are orthogonal to each other.
The vector direction of the angular velocity Ω 1 to which the first atomic gyro 221 is sensitive is perpendicular to the first installation plane 211, the vector direction of the angular velocity Ω 2 to which the second atomic gyro 222 is sensitive is perpendicular to the second installation plane 212, the vector direction of the angular velocity Ω 3 to which the third atomic gyro 221 is sensitive is perpendicular to the third installation plane 213, the vector direction of the linear acceleration a1 to which the first atomic gyro 221 is sensitive is along the direction of the raman light L1 and perpendicular to the second installation plane 212, the vector direction of the linear acceleration a2 to which the second atomic gyro 222 is sensitive is along the direction of the raman light L2 and perpendicular to the third installation plane 213, and the vector direction of the linear acceleration a3 to which the third atomic gyro 223 is sensitive is along the direction of the raman light L3 and perpendicular to the first installation plane 211, so that six inertial amounts are guaranteed to be simultaneously sensed by three atomic gyroscopes, wherein the three angular velocity vector directions are two by two orthogonal, and each of the three linear acceleration vector directions is two orthogonal, and one corresponding linear acceleration vector direction corresponds to the same.
The electrical control unit is electrically connected with the laser generating system 1 and is used for controlling laser and magnetic field, and it can be understood that, in order to control the laser and magnetic field of the laser generating system 1 and the sensitive unit 2, the electrical control unit at least comprises a comprehensive processing module, a radio frequency driving module, a magnetic field control module and a power module, so as to realize accurate control of laser and magnetic field, complete the atomic control process and solve the detected atomic fluorescence signals.
In the course of use of the present application,
in this embodiment, the three atom gyroscopes 22 share a set of laser generating system, and the laser generating system includes all lasers in the atomic control process, and each laser acts on the three atom gyroscopes respectively through spatial beam splitting, so that the difficulty in developing and maintaining the laser units is greatly reduced, and the synchronous control of the interference process of the three atom gyroscopes is facilitated.
As shown in fig. 2 and fig. 3, the use process of the inertial measurement device provided in the present application is: under the condition that the electric control unit is electrified, the comprehensive processing module, the radio frequency driving module and the magnetic field control module are used for controlling the laser generation system to generate laser and act on three atom gyroscopes, specifically, the cooling trapping laser is divided into 30 beams of laser through the light-splitting frequency-shifting module 121 and acts on three atom gyroscopes 22 respectively in a distribution mode of ten beams of each atom gyroscope 22; the pump-back laser passes through the beam splitting frequency shifting module 121 and then respectively forms laser beam combining with cooling trapping laser and 16 states of each atomic gyro; wherein, the state preparation laser is combined with the pump back laser to be equally divided into three beams after passing through the beam splitting frequency shift module 121, and acts on the three atom gyroscopes 22; the raman laser is applied to the three atomic gyroscopes 22 after passing through the light-splitting frequency-shifting module 121, and then the atomic fluorescence signal feedback integrated processing module measured by the sensitive unit performs resolving to obtain a final inertial measurement result.
According to the method, through the special mounting structure of the three atomic gyroscopes and the mounting rigid body, the six-inertial-quantity orthogonal synchronous measurement is realized by combining a common laser technology, the full-inertial-quantity synchronous measurement based on the atomic gyroscopes is realized for the first time, and a foundation is laid for realizing the navigation function.
Example two
The present embodiment provides a method for mounting an inertial measurement unit as described in embodiment one, including the steps of:
the method comprises the following steps of S1, providing three atom gyroscopes and an installation rigid body with three two orthogonal installation planes, wherein each atom gyroscope has a sensitive one-dimensional angular velocity direction and a sensitive one-dimensional linear acceleration vector direction;
preferably, the atomic gyroscope is a double-atomic-group double-throw interference type atomic gyroscope of a double-throw interference type structure.
And step S2, debugging the angular velocity of the atomic gyroscope, so that the sensitive angular velocity direction of the atomic gyroscope is perpendicular to the plane where the atomic gyroscope is installed, and the inertia sensitive axis in the installation of the atomic gyroscope is ensured to have higher orthogonality.
Step S3, respectively and correspondingly installing the three atomic gyroscopes on three installation planes of the installation rigid body, and rotating the atomic gyroscopes on the installation planes to enable the Raman light directions of the atomic gyroscopes to be perpendicular to the other installation plane and then fixing the atomic gyroscopes;
fourth, S4 and S3 are repeated to make the Raman light directions of the three atom gyroscopes respectively perpendicular to different installation planes, thus completing the installation of the inertial measurement device
As shown in fig. 4, step S2 includes:
s21, placing the atomic gyroscope on a testing turntable 30, and measuring the rotation angular velocity of the atomic gyroscope and the angular velocity output by the testing turntable;
s22, adjusting the posture of the atomic gyroscope to enable the rotation angular velocity of the atomic gyroscope to be consistent with the angular velocity output by the test turntable.
Specifically, the posture of the atomic top 22 is adjusted by two-dimensionally adjusting the posture of the atomic top by adjusting the posture adjusting screw 23 of the atomic top 22.
In the present embodiment, the atomic top is fixed to the mounting rigid body by the fastening screw 24.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (6)
1. An inertial measurement device based on an atomic gyroscope is characterized by comprising a laser generation system, a sensitive unit and an electrical control unit;
the laser generation system is used for generating all lasers in the atomic control process;
the sensing unit comprises an installation rigid body and three atom gyroscopes, wherein the installation rigid body is provided with three installation planes which are orthogonal in pairs, each atom gyroscope is provided with a sensitive one-dimensional angular velocity direction and a sensitive one-dimensional linear acceleration vector direction, the three atom gyroscopes are respectively and correspondingly installed on the three installation planes, the sensitive angular velocity directions of the three atom gyroscopes are orthogonal in pairs, the sensitive linear acceleration vector directions of the three atom gyroscopes are along the Raman light direction of the atom gyroscope and are orthogonal in pairs, and a space rectangular coordinate system formed by the three angular velocity directions is completely consistent with a space rectangular coordinate system formed by the three linear acceleration vector directions;
the electric control unit is electrically connected with the laser generating system and is used for controlling laser and a magnetic field; the linear acceleration vector direction of each atom gyroscope is perpendicular to the other installation plane, the linear acceleration vector directions of the three atom gyroscopes are respectively perpendicular to three different installation planes, and the angular speed of each atom gyroscope is perpendicular to the corresponding installation plane of the atom gyroscope.
2. The inertial measurement unit of claim 1, wherein each of the mounting planes is attached with a magnetic shield spacer.
3. The inertial measurement unit based on an atomic gyro according to claim 1, wherein the laser generating system comprises a generating unit and an optical path unit, the generating unit comprises a cooling trapping laser generating unit, a back pumping laser generating unit, a state preparation laser generating unit and a raman laser generating unit, the optical path unit comprises a plurality of beam splitting frequency shift modules, the cooling trapping laser generating unit is used for generating cooling trapping laser, the back pumping laser generating unit is used for generating back pumping laser, the state preparation laser generating unit is used for generating ecological preparation laser, the raman laser generating unit is used for generating raman laser, and the beam splitting frequency shift modules are used for equally dividing the cooling trapping laser into a plurality of beams.
4. The atomic-gyro-based inertial measurement unit of claim 1, wherein the atomic gyro is a double-atomic-group double-throw interferometric atomic gyro.
5. A method of installing an inertial measurement unit, comprising the steps of:
s1, providing three atom gyroscopes and an installation rigid body with three installation planes which are orthogonal in pairs, wherein each atom gyroscope has a sensitive one-dimensional angular velocity direction and a sensitive one-dimensional linear acceleration vector direction;
s2, debugging the angular velocity of the atomic gyroscope to enable the sensitive angular velocity direction of the atomic gyroscope to be perpendicular to a plane where the atomic gyroscope is installed;
s3, respectively and correspondingly installing the three atom gyroscopes on three installation planes of the installation rigid body, and rotating the atom gyroscopes on the installation planes to enable the Raman light directions of the atom gyroscopes to be perpendicular to the other installation plane and then fixing the atom gyroscopes;
s4, repeating the step S3, so that the Raman light directions of the three-atom gyroscopes are respectively perpendicular to different mounting planes.
6. The method of installing an inertial measurement unit according to claim 5, wherein step S2 comprises:
s21, placing the atomic gyroscope on a testing turntable, and measuring the rotation angular velocity of the atomic gyroscope and the angular velocity output by the testing turntable;
s22, adjusting the posture of the atomic gyroscope to enable the rotation angular velocity of the atomic gyroscope to be consistent with the angular velocity output by the test turntable.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8860933B2 (en) * | 2012-07-12 | 2014-10-14 | Honeywell International Inc. | Multi-axis atomic inertial sensor system |
| CN104713552B (en) * | 2013-12-11 | 2017-11-28 | 中国航空工业第六一八研究所 | A kind of inertia sensing assembly |
| CN105066991B (en) * | 2015-08-07 | 2017-08-25 | 中国船舶重工集团公司第七一七研究所 | Inertia measurement equipment based on cold atom principle of interference |
| CN107688191B (en) * | 2017-07-24 | 2019-11-12 | 北京航天控制仪器研究所 | A kind of miniature location navigation time service terminal |
| CN109186578B (en) * | 2018-09-04 | 2021-11-05 | 北京航空航天大学 | Three-axis integrated SERF (spin exchange fiber) atomic spin gyroscope |
| CN112146652A (en) * | 2020-09-25 | 2020-12-29 | 上海航天控制技术研究所 | Micro-mechanical inertial measurement combination for satellite |
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