CN114440853B - Method for improving response speed of SERF atomic spin gyroscope based on transient response calculation - Google Patents
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Abstract
The method for improving the response speed of the SERF atomic spin gyroscope based on transient response calculation comprises the steps of utilizing magnetic field response of the SERF atomic spin gyroscope to calibrate system parameters, utilizing the system parameters to construct a state space matrix of the SERF atomic spin gyroscope, collecting output signals when the SERF atomic spin gyroscope works, calculating the electron transverse polarization rate, utilizing the electron transverse polarization rate to calculate the nuclear transverse polarization rate, utilizing transient electron and nuclear transverse polarization rate information to construct a state vector, calculating angular velocity input, greatly improving the response speed of the SERF atomic spin gyroscope under rotation input, overcoming the double-axis coupling problem and expanding the applicable range of the atomic gyroscope.
Description
Technical Field
The invention relates to an atomic gyroscope technology, in particular to a method for improving the response speed of an SERF atomic spin gyroscope based on transient response calculation.
Background
Spin-exchange relaxation Free (Spin-Exchange Relaxation-Free, SERF) atomic Spin gyroscopes based on magnetic, optical fields and atomic interactions with ultra-high angular velocity measurement sensitivity, using 21 Ne atom as inert gas nucleus with theoretical sensitivity of 10 -8° /s/Hz 1/2 Magnitude, exceeding the highest sensitivity of the fiber optic gyroscope by 2.9 -7° /s/Hz 1/2 . The SERF atomic spin gyroscope not only has ultrahigh angular velocity measurement sensitivity, but also has advantages in terms of volume and cost compared with the gyroscope with the same precision, and is expected to be applied to a long-endurance and high-precision inertial navigation system, so that the SERF atomic spin gyroscope gradually becomes an important development direction of a novel inertial measurement technology. In addition, the SERF atomic spin inertial system with high sensitivity is also widely applied to the leading edge research fields of charge space symmetry break, abnormal interaction force detection, dark matter measurement and the like.
The development of the SERF atomic spin gyroscope has important significance in the exploration of inertial navigation and front physical problems. The atomic gyroscope indirectly measures the angular velocity input size through the measurement of the steady-state value of the electron transverse polarizability under the angular velocity input, and the response speed is determined by the Larmor precession frequency and the decay rate of inert gas nuclei. K-Rb operating at magnetic field Compensation Point 21 In the inertial measurement unit of Ne, 21 the Larmor precession frequency of Ne nuclei is related to the magnitude of the magnetic field sensed by the Ne nuclei by about 0.366Hz, and the precession decay rate is about 1s -1 . The lower Larmor precession attenuation frequency leads to the fact that after a fixed angular velocity is input, the angular velocity signal output needs to be carried out for a longer time>5 s), which makes it difficult for such gyroscopes to reach steady state with complex or higher frequency rotational inputs, the dynamic range of the measured angular velocity input is greatly limited. On the premise of combining measurement sensitivity, the dynamic performance and response speed of the system are improved.
Disclosure of Invention
Aiming at the defects or shortcomings of the prior art, the invention provides a method for improving the response speed of an SERF atomic spin gyroscope based on transient response calculation, which comprises the steps of utilizing magnetic field response of the SERF atomic spin gyroscope to calibrate system parameters, utilizing the system parameters to construct a state space matrix of the SERF atomic spin gyroscope, collecting output signals when the SERF atomic spin gyroscope works, calculating the electron transverse polarization rate, utilizing the electron transverse polarization rate to calculate the nuclear transverse polarization rate, utilizing transient electron and nuclear transverse polarization rate information to construct a state vector, calculating the angular velocity input, greatly improving the response speed of the SERF atomic spin gyroscope under the rotation input, overcoming the double-axis coupling problem and expanding the applicable range of the atomic gyroscope.
The technical scheme of the invention is as follows:
the method for improving the response speed of the SERF atomic spin gyroscope based on transient response calculation is characterized by comprising the following steps of:
step 1, calibrating conversion coefficients;
step 2, calibrating the electronic relaxation rate and the optical frequency shift of the system;
step 3, testing and calibrating other parameters by resonance peaks;
step 4, constructing a state space matrix;
step 5, calculating the electronic transverse polarization rate in the working state;
step 6, calculating the transverse polarization rate of the nuclei in the working state;
and 7, resolving system rotation input.
The step 1 comprises the following steps: heating an alkali metal air chamber of the SERF atomic spin gyroscope to a working temperature, and compensating a magnetic field by adopting a magnetic field cross modulation compensation technology when the laser polarizes atoms to a steady state, wherein the gyroscope works at a 'gyroscope compensation point'; fixing an SERF atomic spin gyroscope in an inertial space static state, respectively applying sine waves with amplitude of 0.3nT, frequency of 10mHz, frequency of 20mHz, frequency of 30mHz, frequency of 40mHz and frequency of 50mHz to an X-axis and a Y-axis to obtain peak-peak values of magnetic field responses under different frequencies, drawing frequency-peak value curves, fitting by adopting straight lines, wherein the slope of the straight lines is a conversion coefficient K of signal output of the X-axis and the Y-axis and electron transverse polarization rate respectively x 、K y 。
The step 2 comprises the following steps: the SERF atomic spin gyroscope is fixed in an inertial space static state, a modulated square wave magnetic field with a peak value of 0.3nT is input in the Y direction, and the magnetic field B in the Z direction is changed z The magnitude of (2) is taken as an independent variable, the steady-state solution difference value dS of output is measured, an S-shaped curve can be obtained, and the curve is adopted:
fitting to obtain the optical frequency shift L of the system z Lateral electron relaxation rateWherein B is c For self-compensating point of magnetic field, gamma e The gyromagnetic ratio of electrons is K, which is a constant proportionality coefficient.
The step 3 comprises the following steps: fixing SERF atomic spin gyroscopes in an inertial space stationary state by varying different B z Measuring electron resonance peak of magnetic field, calculating electron magnetic field B e Magnetic field B of nuclei n Electron polarizabilityAnd parameters such as a slow-down factor Q.
The step 4 comprises the following steps: and (3) after the basic parameters of the SERF atomic spin gyroscope are obtained through calibration in the steps (1) to (3), constructing a system matrix A and an input matrix B of the SERF atomic spin gyroscope.
The step 5 comprises the following steps: outputting S to X-axis signal when SERF atomic spin gyroscope works x Y-axis signal output S y Conversion coefficient K of dividing X-axis and Y-axis signal output by electron transverse polarization rate respectively x 、K y Obtaining the X-axis electron polarization rateElectron polarizability with Y-axis->
The step 6 comprises the following steps: the obtained X-axis electron polarization rateElectron polarizability with Y-axis->Calculating the related item +.about.f. of electron polarization in nuclear spin transverse polarization with system parameters>
The step 7 comprises the following steps: the obtained X-axis electron nuclear polarizabilityAnd Y-axis electron nuclear polarizability +.>Calculating with the obtained system matrix A and input matrix B to obtain angular velocity input omega x And omega y 。
The invention has the following technical effects: the invention relates to a method for improving the response speed of an SERF atomic spin gyroscope based on transient response calculation, which utilizes the biaxial electron spin transverse output response of the SERF atomic spin gyroscope under magnetic field input to measure parameters such as the magnetic field amplitude-frequency response, electron and nuclear relaxation rate, electron and nuclear spin magnetic field, electron spin progress slowing factor and the like of a calibrated gyroscope, and constructs a system matrix and an input matrix. When the atomic gyroscope works, the biaxial electron spin transverse output transient response under the rotation input is collected, and the real-time rotation input can be obtained by calculating through calibration parameters. The method can greatly improve the response speed of the SERF atomic spin gyroscope under the rotation input, overcomes the double-shaft coupling problem of the atomic gyroscope, and expands the applicable range of the atomic gyroscope.
Drawings
FIG. 1 is a flow chart of a method for increasing the response speed of a SERF atomic spin gyroscope based on transient response calculation, which is implemented by the invention. The following steps are included in fig. 1: step 1, calibrating a conversion coefficient, and measuring the conversion coefficient from the electronic transverse polarization rate to signal output; step 2, S curve test (S curve is S-shaped curve), calibrating the electronic relaxation rate and optical frequency shift of the system; step 3, testing formants, namely calibrating an electron magnetic field, a nuclear magnetic field and a slowing factor of the system; step 4, constructing a system matrix A and an input matrix B by using the system calibration parameters and the physical constants; step 5, collecting output signals when the gyroscope works, and calculating the electronic transverse polarization rate; step 6, utilizing the electron transverse polarization rate to calculate the nuclear transverse polarization rate; and 7, constructing a state vector by using transient electron and nuclear transverse polarization rate information, and calculating angular velocity input.
Fig. 2 is a schematic diagram of a system architecture utilized to implement the method of the present invention for increasing the response speed of a SERF atomic spin gyroscope based on transient response calculations. The device comprises a permalloy shielding cylinder, ferrite, a magnetic field coil, an oven and an air chamber which are sequentially arranged from outside to inside, a detection light path passing through the air chamber along an X axis and a pumping light path passing through the air chamber along a Z axis, wherein a detection laser is arranged at the left end of the detection light path, a polaroid is arranged between the detection laser and the permalloy shielding cylinder, a Wollaston prism is arranged at the right end of the detection light path, a 1/2 wave plate is arranged between the Wollaston prism and the permalloy shielding cylinder, the Wollaston prism is connected with a data acquisition device through a differential amplifier, a polarization beam splitter prism is arranged on the pumping light path, a 1/4 wave plate is arranged between the polarization beam splitter prism and the top of the permalloy shielding cylinder, the reflecting side of the polarization beam splitter prism is connected with a control system through a photoelectric detector, the incident side of the polarization beam splitter prism is connected with a liquid crystal light intensity stabilizer through a reflecting mirror, and the liquid crystal light intensity stabilizer is respectively connected with the pumping laser and the control system.
Detailed Description
The invention is described below with reference to the figures (fig. 1-2) and examples.
FIG. 1 is a flow chart of a method for increasing the response speed of a SERF atomic spin gyroscope based on transient response calculation, which is implemented by the invention. Fig. 2 is a schematic diagram of a system architecture utilized to implement the method of the present invention for increasing the response speed of a SERF atomic spin gyroscope based on transient response calculations. Referring to fig. 1 to 2, a method for increasing response speed of a SERF atomic spin gyroscope based on transient response calculation is characterized by comprising the following steps: step 1, calibrating conversion coefficients; step 2, calibrating the electronic relaxation rate and the optical frequency shift of the system; step 3, testing and calibrating other parameters by resonance peaks; step 4, constructing a state space matrix; step 5, calculating the electronic transverse polarization rate in the working state; step 6, calculating the transverse polarization rate of the nuclei in the working state; and 7, resolving system rotation input.
The step 1 comprises the following steps: heating an alkali metal air chamber of the SERF atomic spin gyroscope to a working temperature, and compensating a magnetic field by adopting a magnetic field cross modulation compensation technology when the laser polarizes atoms to a steady state, wherein the gyroscope works at a 'gyroscope compensation point'; fixing an SERF atomic spin gyroscope in an inertial space static state, respectively applying sine waves with amplitude of 0.3nT, frequency of 10mHz, frequency of 20mHz, frequency of 30mHz, frequency of 40mHz and frequency of 50mHz to an X-axis and a Y-axis to obtain peak-peak values of magnetic field responses under different frequencies, drawing frequency-peak value curves, fitting by adopting straight lines, wherein the slope of the straight lines is a conversion coefficient K of signal output of the X-axis and the Y-axis and electron transverse polarization rate respectively x 、K y . The step 2 comprises the following steps: the SERF atomic spin gyroscope is fixed in an inertial space static state, a modulated square wave magnetic field with a peak value of 0.3nT is input in the Y direction, and the magnetic field B in the Z direction is changed z The magnitude of (2) is taken as an independent variable, the steady-state solution difference value dS of output is measured, an S-shaped curve can be obtained, and the curve is adopted:
fitting to obtain the optical frequency shift L of the system z Electron relaxation rateWherein B is c For self-compensating point of magnetic field, gamma e The gyromagnetic ratio of electrons is K, which is a constant proportionality coefficient.
Said step 3 comprises: fixing SERF atomic spin gyroscopes in an inertial space stationary state by varying different B z Measuring electron resonance peak of magnetic field, calculating electron magnetic field B e Magnetic field B of nuclei n Electron polarizability P z e And parameters such as a slow-down factor Q. The step 4 comprises the following steps: and (3) after the basic parameters of the SERF atomic spin gyroscope are obtained through calibration in the steps (1) to (3), constructing a system matrix A and an input matrix B of the SERF atomic spin gyroscope. The step 5 comprises the following steps: outputting S to X-axis signal when SERF atomic spin gyroscope works x Y-axis signal output S y Conversion coefficient K of dividing X-axis and Y-axis signal output by electron transverse polarization rate respectively x 、K y Obtaining the X-axis electron polarization rate P x e And Y-axis electron polarizability P y e . The step 6 comprises the following steps: the obtained X-axis electron polarization rateElectron polarizability with Y-axis->Calculating the related item +.about.f. of electron polarization in nuclear spin transverse polarization with system parameters>. The step 7 comprises the following steps: the obtained X-axis electron nuclear polarizability +.>And Y-axis electron nuclear polarizability +.>Calculating the angular velocity input omega from the obtained system matrix A and the input matrix B x And omega y 。
The invention provides a modeling and calibrating method of an SERF atomic spin gyroscope and a real-time transverse nuclear spin polarization rate calculating method, which overcome the defect that the conventional SERF atomic spin gyroscope cannot be used for measuring the nuclear polarization rate in real time without damage, and the transient response information of the atomic spin gyroscope is used for measuring the rotation input in real time, so that the response speed is greatly improved. In general, the SERF atomic spin gyroscope uses the steady state value of the electron transverse polarization as the rotation sensitive output, but the precession speed of the inert gas nuclei is slower, so that the electron transverse polarization can reach the steady state after a long time. Such a measurement method has the following drawbacks: 1. the gyroscope of the measurement mode has slower response speed, and for complex rotation input, the input cannot be accurately tracked; 2. the measurement mode has the problem of coupling of sensitive shafts, and has signal output change for the rotation input change of non-sensitive shafts. The above problems can cause that the rotation signal of the atomic spin gyroscope cannot be accurately measured in real time, so that the response speed of the gyroscope is slowed down and the bandwidth is narrowed. The present invention is advantageous in solving the above-described drawbacks of the conventional case.
Fig. 2 illustrates the principle of a SERF atomic spin gyroscope and xyz coordinate system setup.
Output signal S for atomic spin gyroscope x And S is equal to y We can pass through the conversion coefficient K x And K is equal to y Converting it into K-Rb atomic spin transverse polarizationAnd->
The dynamics equation of a SERF atomic spin gyroscope can be described approximately by the following Bloch equation:
where "x" represents the cross-multiplication of the vectors, t is time,respectively K-Rb atomic spins, 21 Spin polarizability of Ne nucleus, gamma e And gamma n Respectively the spin gyromagnetic ratio and the spin gyromagnetic ratio of electrons 21 Ne nuclear spin gyromagnetic ratio, Q is an electron spin slowing factor. The pumping rate and photon polarization rate of pumping light are R respectively p And S is p The method comprises the steps of carrying out a first treatment on the surface of the The pumping rate and photon polarization rate of the detection light are respectively R m And S is m . Electron spin 21 Spin-exchange interactions between Ne nuclear spins polarize 21 Ne atom with spin exchange Rate +.>The method comprises the steps of carrying out a first treatment on the surface of the Electron spin 21 The spin-exchange interaction between Ne nuclear spins also causes electron spin, which has a spin-exchange rate of +.>. In an external magnetic field B= { B x ,B y ,B z Frequency shift of light l= { L x ,L y ,L z Zero, inert gas equivalent magnetic field λM n P n An alkali metal electron equivalent magnetic field λM e P e Under the combined action of the rotation signal omega, the electron spin of the alkali metal and the nuclear spin of the inert gas generate precession. To describe the relaxation process of the longitudinal and transverse polarizability of atoms, longitudinal relaxation rate +.>And transverse relaxation rate->. When the angular velocity input and the magnetic field input are sufficiently small, the polarizability remains approximately unchanged, and there are:
the Bloch equation can be written linearly as:
the first two terms in the formula (3) are changes of transverse electron spin polarization rate along with time, the decay speed of the transverse electron spin polarization rate to a steady state under the input of rotation or a magnetic field is less than 30ms, and compared with the decay speed of inert gas nuclei Larmor precession, the decay speed is about 1000 times faster. Precession of the electron spin relative to the slower noble gas nuclei Larmor precession can be approximately ignored as if it were always in steady state, i.e.:
coupled (3) and (4) and ignoring nuclear spin versus electron spin pumpingCan be solved to obtain an estimate of the nuclear spin-polarizability +.>And->
In formula (5)For the electron polarizability-related term, the +.>Relevant items are entered for rotation. Spin transverse polarizability of electrons->The term associated with the electron polarizability in the transverse polarizability of nuclear spins>As a system state variable, a state vector is defined>Input vector U (t) = [ Ω ] x ,Ω y ,B x ,B y ] T The state equation (3) of the linearization system can be organized into the form of a state space:
the expression of the system matrix A is as follows:
the expression of the input matrix B is:
performing matrix transformation on the formula (6), wherein the real-time change of the angular velocity input can be obtained through transient response calculation of electron spin polarization rate:
wherein B is -1 Is the inverse of the input matrix B. Since U (t) = [ Ω ] x ,Ω y ,B x ,B y ] T Therefore, the first two items of U (t) can be taken to obtain rotation information omega x And omega y 。
The method for improving the response speed of the SERF atomic spin gyroscope based on transient response calculation requires calibrating the state of the SERF atomic spin gyroscope through 7 steps to obtain relevant parameters. And 7 steps of real-time calculation are carried out on angular velocity input through data acquisition according to the obtained parameters.
Step 1: conversion coefficient calibration
And (3) fixing the SERF atomic spin gyroscope in an inertial space static state, and applying sine waves with amplitude of 0.3nT, frequency of 10mHz, frequency of 20mHz, frequency of 30mHz, frequency of 40mHz and frequency of 50mHz on the x-axis and the y-axis respectively to obtain peak-to-peak values of magnetic field responses under different frequencies. Drawing a frequency-peak curve, fitting by adopting a straight line, wherein the slope of the straight line is respectively the conversion coefficient K of the X-axis signal output and the Y-axis signal output and the electronic transverse polarization rate x 、K y ；
Step 2: electronic relaxation rate and optical frequency shift calibration of system
The SERF atomic spin gyroscope is fixed in an inertial space static state, a modulated square wave magnetic field with a peak value of 0.3nT is input in the Y direction, and B is changed z The magnitude of the magnetic field is used as an independent variable, and the steady-state solution difference value dS of the output is measured, so that an S-shaped curve can be obtained. The curve is adopted:
fitting to obtain the optical frequency shift L of the system z Electron relaxation rate. Wherein B is c K is a constant proportionality coefficient for the self-compensation point of the magnetic field.
Step 3: formant testing to calibrate other parameters
Fixing SERF atomic spin gyroscopes in an inertial space stationary state by varying different B z Measuring electron resonance peak of magnetic field, calculating electron magnetic field B e Magnetic field B of nuclei n Electron polarizability P z e Parameters such as a slow-down factor Q and the like;
step 4: construction of state space matrix
After basic parameters of the gyroscope are obtained through calibration in the three steps, a system matrix A and an input matrix B of the SERF atomic spin gyroscope are constructed according to formulas (7) and (8);
step 5: resolution of electronic transverse polarizability in working state
Outputting S to X-axis signal when SERF atomic spin gyroscope works x Y-axis signal output S y Conversion coefficient K of dividing X-axis and Y-axis signal output by electron transverse polarization rate respectively x 、K y Obtaining the X-axis electron polarization rateElectron polarizability with Y-axis->
Step 6: resolution of transverse polarizability of working state nuclei
The obtained X-axis electron polarization rateElectron polarizability with Y-axis->Substituting system parameters into (5) to calculate the relative term of electron polarization rate in nuclear spin transverse polarization rate>
Step 7: system rotation input resolution
The obtained X-axis electron and nuclear polarizabilityPolarization ratio of electrons and nuclei of Y-axis->Substituting the obtained system matrix A and the obtained input matrix B into the formula (9) to calculate and obtain the angular velocity input omega x And omega y 。
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. The method for improving the response speed of the SERF atomic spin gyroscope based on transient response calculation is characterized by comprising the following steps of:
step 1, calibrating conversion coefficients;
step 2, calibrating the electronic relaxation rate and the optical frequency shift of the system;
step 3, testing and calibrating other parameters by resonance peaks;
step 4, constructing a state space matrix;
step 5, calculating the electronic transverse polarization rate in the working state;
step 6, calculating the transverse polarization rate of the nuclei in the working state;
step 7, resolving system rotation input;
the formant test in the step 3 comprises the following steps: fixing SERF atomic spin gyroscopes in an inertial space stationary state by varying different B z Measuring electron formants by the magnetic field; the step 3 of identifying other parameters includes: calculating the electron magnetic field B e Magnetic field B of nuclei n Electron polarizabilityAnd slowing down the factor Q parameter.
2. The method for increasing response speed of a SERF atomic spin gyroscope based on transient response calculation according to claim 1, wherein the step 1 comprises: heating an alkali metal air chamber of the SERF atomic spin gyroscope to a working temperature, and compensating a magnetic field by adopting a magnetic field cross modulation compensation technology when the laser polarizes atoms to a steady state, wherein the gyroscope works at a 'gyroscope compensation point'; fixing an SERF atomic spin gyroscope in an inertial space static state, respectively applying sine waves with amplitude of 0.3nT, frequency of 10mHz, frequency of 20mHz, frequency of 30mHz, frequency of 40mHz and frequency of 50mHz to an x-axis and a y-axis to obtain magnetic field responses under different frequenciesDrawing a frequency-peak curve, fitting by adopting straight lines, wherein the slopes of the straight lines are respectively the conversion coefficients K of X-axis signal output and Y-axis signal output and electron transverse polarization rate x 、K y 。
3. The method for increasing response speed of a SERF atomic spin gyroscope based on transient response calculation according to claim 1, wherein the step 2 comprises: the SERF atomic spin gyroscope is fixed in an inertial space static state, a modulated square wave magnetic field with a peak value of 0.3nT is input in the Y direction, and the magnetic field B in the Z direction is changed z The magnitude of (2) is taken as an independent variable, the steady-state solution difference value dS of output is measured, an S-shaped curve can be obtained, and the curve is adopted:
fitting to obtain the optical frequency shift L of the system z Electron relaxation rateWherein B is c For self-compensating point of magnetic field, gamma e The electron gyromagnetic ratio is K, and the K is a constant proportionality coefficient.
4. The method for increasing response speed of a SERF atomic spin gyroscope based on transient response calculation according to claim 1, wherein the step 4 comprises: and (3) calibrating the obtained parameters by the steps (1) to (3) to construct a system matrix A and an input matrix B of the SERF atomic spin gyroscope.
5. The method for increasing response speed of a SERF atomic spin gyroscope based on transient response calculation according to claim 1, wherein the step 5 comprises: outputting S to X-axis signal when SERF atomic spin gyroscope works x Y-axis signal output S y Conversion coefficient K of dividing X-axis and Y-axis signal output by electron transverse polarization rate respectively x 、K y ObtainingTo X-axis electron polarization rateElectron polarizability with Y-axis->
6. The method for increasing response speed of a SERF atomic spin gyroscope based on transient response calculation according to claim 1, wherein the step 6 comprises: the obtained X-axis electron polarization rateElectron polarizability with Y-axis->Calculating the related item +.about.f. of electron polarization in nuclear spin transverse polarization with system parameters>
7. The method for increasing response speed of a SERF atomic spin gyroscope based on transient response calculation according to claim 1, wherein the step 7 comprises: the obtained X-axis electron nuclear polarizabilityAnd Y-axis electron nuclear polarizability +.>Calculating with the obtained system matrix A and input matrix B to obtain angular velocity input omega x And omega y 。
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