CN114527520A - Vibration compensation method for correcting interference fringes of atomic interference gravimeter - Google Patents
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Abstract
本发明公开了一种用于修正原子干涉重力仪干涉条纹的振动补偿方法,包括以下步骤:S1、给定扫频速率序列、重力参考值、脉冲间隔时长、有效波矢;S2、导入实测数据;S3、通过原始条纹计算并设定优化目标;S4、根据触发信号分割振动传感器信号,得到每个跃迁几率对应的振动传感器信号;S5、给定延时系数以及增益系数的起始范围;S6、通过遍历搜索法或黄金分割搜索法求取最优延时系数、最优增益系数;S7、通过最优延时系数、最优增益系数计算每次原子干涉时的参考镜振动速度,进而得到振动相位噪声序列、仅受振动影响的原子相位序列以及修正条纹,最终计算得到将修正条纹拟合到标准余弦信号时的RMSE值。
The invention discloses a vibration compensation method for correcting interference fringes of an atomic interference gravimeter, comprising the following steps: S1, a given frequency sweep rate sequence, a gravity reference value, a pulse interval duration, and an effective wave vector; S2, importing measured data ; S3, calculate and set the optimization target through the original stripes; S4, divide the vibration sensor signal according to the trigger signal, and obtain the vibration sensor signal corresponding to each transition probability; S5, give the starting range of the delay coefficient and the gain coefficient; S6 , Obtain the optimal delay coefficient and the optimal gain coefficient through the traversal search method or the golden section search method; S7, calculate the vibration speed of the reference mirror during each atomic interference through the optimal delay coefficient and the optimal gain coefficient, and then obtain The vibrational phase noise sequence, the atomic phase sequence only affected by vibrations, and the correction fringe are finally calculated to obtain the RMSE value when the correction fringe is fitted to the standard cosine signal.
Description
技术领域technical field
本发明涉及重力测量领域,尤其涉及一种用于修正原子干涉重力仪干涉条纹的振动补偿方法。The invention relates to the field of gravity measurement, in particular to a vibration compensation method for correcting interference fringes of an atomic interference gravimeter.
背景技术Background technique
绝对重力测量,即对重力加速度绝对值的精确测量,在辅助导航、资源勘探、地球物理、计量领域都有着广泛的应用。现有的高精度绝对重力仪普遍采用自由落体法,主要包括以角锥棱镜为下落物体的激光干涉式绝对重力仪和以冷原子团为下落物体的原子干涉式绝对重力仪,以下分别简称为光学重力仪和原子重力仪。前者通过激光干涉仪测量角锥棱镜在真空中自由下落的运动轨迹,拟合求解重力加速度,后者根据原子团在自由下落的过程中经过三次拉曼激光脉冲作用形成的原子干涉条纹来计算重力加速度。由于二者的实际测量对象是下落物体或下落原子团相对于仪器内一个参考镜(角锥棱镜或平面镜)的运动加速度,因此参考镜自身的加速度必然耦合到测量结果中。理论上,忽略参考镜自身振动时,现有的绝对重力仪的测量精度可以达到微伽量级;但实际上,如果直接将参考镜放置在地面上,地面振动引起的测值离散度将超过十微伽,在复杂振动环境中甚至达到毫伽或十毫伽量级。因此,利用测振仪器获得参考镜自身的运动加速度并在计算重力加速度时对其影响进行修正是提高绝对重力仪测量精度的有效手段之一,这种修正方法一般称为振动补偿。Absolute gravity measurement, that is, the precise measurement of the absolute value of gravitational acceleration, has a wide range of applications in the fields of auxiliary navigation, resource exploration, geophysics, and measurement. Existing high-precision absolute gravimeters generally use the free-fall method, mainly including laser interferometric absolute gravimeters with corner prisms as falling objects and atomic interferometric absolute gravimeters with cold atomic clusters as falling objects, hereinafter referred to as optics. gravimeter and atomic gravimeter. The former uses a laser interferometer to measure the free-falling trajectory of the corner cube in vacuum, and fits and solves the gravitational acceleration. . Since the actual measurement object of the two is the motion acceleration of the falling object or the falling atomic group relative to a reference mirror (corner prism or plane mirror) in the instrument, the acceleration of the reference mirror itself must be coupled to the measurement result. Theoretically, when the vibration of the reference mirror itself is ignored, the measurement accuracy of the existing absolute gravimeter can reach the micro-gamma level; but in fact, if the reference mirror is directly placed on the ground, the dispersion of the measurement value caused by the ground vibration will exceed Ten microGal, even in the complex vibration environment, it can even reach the order of milliGal or ten milliGal. Therefore, it is one of the effective means to improve the measurement accuracy of the absolute gravimeter to obtain the motion acceleration of the reference mirror itself and to correct its influence when calculating the gravitational acceleration. This correction method is generally called vibration compensation.
具体而言,影响原子重力仪的地面振动噪声主要为环境噪声,与测量时间和测量点的地基、坐标及环境有关,可以根据频率来粗略区分。首先是人类活动噪声,一般大于1Hz,如仪器测试期间附近的人员走动,车辆等人工振源产生的振动,以及建筑物的晃动等。其次是来源于地球本身的噪声,一般在0.1Hz~1Hz之间,主要包括周期性地脉动和地震等地球内部运动引起的振动,其中地脉动噪声模型的加速度功率谱密度在频率为0.2Hz和3Hz的位置存在峰值。最后是气压波动等大气运动噪声,一般小于0.1Hz,普遍变化缓慢且幅值较低,对绝对重力测量的影响可以忽略。由于绝对重力测量只依靠垂直方向的位移数据进行计算,因此对原子干涉条纹进行振动补偿时,一般忽略地面振动的水平分量,仅需使用测振仪器输出的垂直振动信号。Specifically, the ground vibration noise affecting the atomic gravimeter is mainly environmental noise, which is related to the measurement time and the foundation, coordinates and environment of the measurement point, and can be roughly distinguished according to the frequency. The first is human activity noise, generally greater than 1Hz, such as the movement of nearby people during the instrument test, the vibration generated by artificial vibration sources such as vehicles, and the shaking of buildings. The second is the noise originating from the earth itself, generally between 0.1Hz and 1Hz, mainly including vibrations caused by periodic pulsations and earthquakes and other internal movements of the earth. The acceleration power spectral density of the ground pulsation noise model is at frequencies of 0.2Hz and There is a peak at 3Hz. Finally, atmospheric motion noise such as pressure fluctuations, generally less than 0.1 Hz, generally changes slowly and has a low amplitude, and its impact on absolute gravity measurements can be ignored. Since the absolute gravity measurement only relies on the displacement data in the vertical direction for calculation, the horizontal component of ground vibration is generally ignored when the vibration compensation of atomic interference fringes is performed, and only the vertical vibration signal output by the vibration measuring instrument is used.
目前国际上较为成熟的原子重力仪是法国巴黎天文台研制的CAG-01型原子重力仪,曾参加过多次国际重力比对,采用的振动处理方法为被动式垂直隔振系统与振动补偿的结合,其中振动补偿的具体原理为:数据采集卡同步记录原子干涉过程中的地震计输出的速度信号与原子干涉条纹,在控制软件中利用IIR(Infinite Impulse Response,无限冲激响应)滤波器和非因果低通滤波器对地震计信号进行处理,以减小地震计传递函数幅频特性不恒定、相频特性存在非线性的影响,获得更真实的参考镜振动信号,最后利用处理后的信号得到由参考镜振动引入的相位噪声,修正原子干涉条纹。在该仪器所在的测量环境中,此振动补偿方法本身可以使重力仪灵敏度提升为原来的3倍。德国汉诺威大学提出利用数字式低通和高通滤波器对振动传感器的输出信号进行前处理,以得到更为精确的参考镜振动引入的相位噪声,从而实现振动补偿。其实验结果表明,在较安静的环境中利用高精度商用地震计进行振动补偿,或在复杂振动环境中使用精度较低的商用加速度计或其自主研制的新型光学惯性传感器进行补偿,均可以有效提高重力仪的灵敏度。At present, the relatively mature atomic gravimeter in the world is the CAG-01 atomic gravimeter developed by the Paris Observatory in France. It has participated in many international gravity comparisons. The vibration processing method adopted is the combination of passive vertical vibration isolation system and vibration compensation. The specific principle of vibration compensation is: the data acquisition card synchronously records the velocity signal output by the seismometer and the atomic interference fringes in the process of atomic interference, and uses the IIR (Infinite Impulse Response, infinite impulse response) filter and non-causal in the control software. The low-pass filter processes the seismometer signal to reduce the influence of the non-constant amplitude-frequency characteristics of the seismometer transfer function and the nonlinear phase-frequency characteristics, so as to obtain a more realistic reference mirror vibration signal. The atomic interference fringes are corrected with reference to the phase noise introduced by the mirror vibration. In the measurement environment in which the instrument is located, the vibration compensation method itself can triple the sensitivity of the gravimeter. The University of Hannover in Germany proposes to use digital low-pass and high-pass filters to pre-process the output signal of the vibration sensor to obtain a more accurate reference mirror vibration induced phase noise, so as to achieve vibration compensation. The experimental results show that the use of high-precision commercial seismometers for vibration compensation in quiet environments, or the use of low-precision commercial accelerometers or their self-developed new optical inertial sensors for compensation in complex vibration environments can be effective. Increase the sensitivity of the gravimeter.
在我国,浙江大学自制的原子重力仪同样采用了振动补偿方法,其主要特点为利用商用反演软件修正地震计实测传递函数的影响以获得更真实的参考镜振动信号(如图1所示)。在其实验室环境中,该方法可以将重力仪的灵敏度提升至与使用被动隔振系统时相近的水平。国防科技大学对参考镜垂向振动及水平偏转引入的测量噪声进行了详细分析,利用加速度计测量原子重力仪工作时的参考镜振动,同时对加速度计与参考镜之间的传递函数进行了较为精确的标定。实测结果表明在较复杂的振动环境中其振动补偿方法可以实现显著的振动补偿效果。军事科学院国防创新院提出的振动补偿方法则采用具有高精度四通道移相探测器的迈克尔逊激光干涉仪替代传统振动传感器。该干涉仪可以直接测量出原子干涉条纹的相移,并结合信号整形、数字鉴相等方法确定拉曼激光脉冲作用前后原子干涉条纹的相位小数的变化,得到参考镜振动引起的原子干涉相位偏差。去除该相位偏差,即可对重力仪测量到的跃迁几率信号进行修正。此外,中国计量科学研究院、中科院精密测量研究院、华中科技大学、中国科技大学、国防科技大学、美国斯坦福大学、德国洪堡大学等单位也研制了不同类型的隔振系统,以减小地面振动对原子重力仪的影响。In my country, the self-made atomic gravimeter of Zhejiang University also adopts the vibration compensation method. Its main feature is to use commercial inversion software to correct the influence of the measured transfer function of the seismometer to obtain a more realistic reference mirror vibration signal (as shown in Figure 1). . In its laboratory setting, the method can increase the sensitivity of gravimeters to levels similar to when passive vibration isolation systems are used. The National University of Defense Technology has carried out a detailed analysis of the measurement noise caused by the vertical vibration and horizontal deflection of the reference mirror. The accelerometer is used to measure the vibration of the reference mirror when the atomic gravimeter is working, and the transfer function between the accelerometer and the reference mirror is compared. Precise calibration. The measured results show that the vibration compensation method can achieve a significant vibration compensation effect in a complex vibration environment. The vibration compensation method proposed by the National Defense Innovation Institute of the Academy of Military Sciences uses a Michelson laser interferometer with a high-precision four-channel phase-shift detector to replace the traditional vibration sensor. The interferometer can directly measure the phase shift of the atomic interference fringes, and combine the signal shaping and digital phase identification methods to determine the change of the phase fraction of the atomic interference fringes before and after the Raman laser pulse, and obtain the atomic interference phase deviation caused by the vibration of the reference mirror. By removing the phase deviation, the transition probability signal measured by the gravimeter can be corrected. In addition, China Institute of Metrology, Chinese Academy of Sciences Institute of Precision Measurement, Huazhong University of Science and Technology, University of Science and Technology of China, National University of Defense Technology, Stanford University, Humboldt University in Germany and other units have also developed different types of vibration isolation systems to reduce ground The effect of vibrations on an atomic gravimeter.
然而,现有的原子重力仪适应性较差,在测量环境改变时,其振动补偿效果明显降低,从而影响了原子重力仪的测量精度,因此有必要对其进行改进。However, the existing atomic gravimeter has poor adaptability, and its vibration compensation effect is obviously reduced when the measurement environment changes, thus affecting the measurement accuracy of the atomic gravimeter, so it is necessary to improve it.
发明内容SUMMARY OF THE INVENTION
本发明目的是针对上述问题,提供一种在各个测量环境下均具有最佳补偿效果的用于修正原子干涉重力仪干涉条纹的振动补偿方法。The purpose of the present invention is to solve the above problems, and to provide a vibration compensation method for correcting the interference fringes of an atomic interference gravimeter, which has the best compensation effect in each measurement environment.
为了实现上述目的,本发明的技术方案是:In order to achieve the above object, the technical scheme of the present invention is:
一种用于修正原子干涉重力仪干涉条纹的振动补偿方法,包括以下步骤:A vibration compensation method for correcting interference fringes of an atomic interference gravimeter, comprising the following steps:
S1、给定扫频速率序列、重力参考值、脉冲间隔时长、有效波矢;S1. Given sweep rate sequence, gravity reference value, pulse interval duration, and effective wave vector;
S2、导入实测数据;S2. Import the measured data;
S3、通过原始条纹计算并设定优化目标;S3. Calculate and set the optimization goal through the original stripe;
S4、根据触发信号分割振动传感器信号,得到每个跃迁几率对应的振动传感器信号;S4. Divide the vibration sensor signal according to the trigger signal, and obtain the vibration sensor signal corresponding to each transition probability;
S5、给定延时系数以及增益系数的起始范围;S5, the starting range of the given delay coefficient and gain coefficient;
S6、通过遍历搜索法或黄金分割搜索法求取最优延时系数、最优增益系数;S6. Obtain the optimal delay coefficient and the optimal gain coefficient through the traversal search method or the golden section search method;
S7、通过最优延时系数、最优增益系数计算每次原子干涉时的参考镜振动速度,进而得到振动相位噪声序列、仅受振动影响的原子相位序列以及修正条纹,最终计算得到将修正条纹拟合到标准余弦信号时的RMSE值。S7. Calculate the vibration speed of the reference mirror during each atomic interference through the optimal delay coefficient and optimal gain coefficient, and then obtain the vibration phase noise sequence, the atomic phase sequence only affected by vibration, and the correction fringes, and finally calculate the correction fringes. RMSE value when fitted to a standard cosine signal.
进一步的,所述步骤S2中,实测数据包括与扫频速率序列对应的实测跃迁几率序列、同时段内测量参考镜振动的振动传感器垂直方向输出信号、同时段内每次原子团下落前的触发信号。Further, in the step S2, the measured data includes the measured transition probability sequence corresponding to the frequency sweep rate sequence, the vertical output signal of the vibration sensor measuring the vibration of the reference mirror in the same period, and the trigger signal before each atomic group falls in the same period. .
进一步的,所述步骤S3中,优化目标为原始条纹拟合时的RMSE值、原始条纹拟合时的可决系数、干涉条纹残差的标准差、原始条纹残差与仅受振动影响的条纹残差之间的相关系数中的一种。Further, in the step S3, the optimization targets are the RMSE value during the original fringe fitting, the coefficient of determination during the original fringe fitting, the standard deviation of the interference fringe residual, the original fringe residual and the fringe only affected by vibration. One of the correlation coefficients between residuals.
进一步的,所述步骤S4中,用校正器传递函数对振动传感器信号进行滤波处理操作。Further, in the step S4, a filter processing operation is performed on the vibration sensor signal with the corrector transfer function.
进一步的,所述步骤S6中,使用遍历搜索法或黄金分割搜索法求取最优延时系数、最优增益系数时,当优化目标为原始条纹拟合时的RMSE值时,以原始条纹拟合时的RMSE值达到最小值时对应的延时系数、增益系数作为最优延时系数、最优增益系数;Further, in the step S6, when the optimal delay coefficient and the optimal gain coefficient are obtained by using the traversal search method or the golden section search method, when the optimization target is the RMSE value of the original stripe fitting, the original stripe fitting is used as the RMSE value. The delay coefficient and gain coefficient corresponding to the time when the RMSE value reaches the minimum value are regarded as the optimal delay coefficient and optimal gain coefficient;
当优化目标为原始条纹拟合时的可决系数时,以原始条纹拟合时的可决系数达到最小值时对应的延时系数、增益系数作为最优延时系数、最优增益系数;When the optimization target is the coefficient of determination in the original fringe fitting, the delay coefficient and gain coefficient corresponding to when the coefficient of determination in the original fringe fitting reaches the minimum value are used as the optimal delay coefficient and optimal gain coefficient;
当优化目标为干涉条纹残差的标准差时,以干涉条纹残差的标准差达到最小值时对应的延时系数、增益系数作为最优延时系数、最优增益系数;When the optimization target is the standard deviation of the interference fringe residual, the delay coefficient and gain coefficient corresponding to when the standard deviation of the interference fringe residual reaches the minimum value are taken as the optimal delay coefficient and optimal gain coefficient;
当优化目标为原始条纹残差与仅受振动影响的条纹残差之间的相关系数时,以原始条纹残差与仅受振动影响的条纹残差之间的相关系数的绝对值达到最大值时对应的延时系数作为最优延时系数;以其他优化目标达到最小值时对应的增益系数作为最优增益系数。When the optimization objective is the correlation coefficient between the original fringe residual and the fringe residual only affected by vibration, the absolute value of the correlation coefficient between the original fringe residual and the fringe residual only affected by vibration reaches the maximum value The corresponding delay coefficient is used as the optimal delay coefficient; the corresponding gain coefficient when other optimization targets reach the minimum value is used as the optimal gain coefficient.
进一步的,所述步骤S7中,通过最优延时系数、最优增益系数计算每次原子干涉时的参考镜振动速度时,当振动传感器为地震计时,则计算公式为:Further, in the step S7, when calculating the vibration velocity of the reference mirror during each atomic interference by the optimal delay coefficient and the optimal gain coefficient, when the vibration sensor is a seismometer, the calculation formula is:
式中,vm(t)为参考镜的振动速度;τ为最优延时系数;K为最优增益系数;Us(t)为地震计输出信号;vs为地震计敏感质量振动速度;Ks为地震计的标称灵敏度;where v m (t) is the vibration velocity of the reference mirror; τ is the optimal delay coefficient; K is the optimal gain coefficient; U s (t) is the output signal of the seismometer; v s is the vibration velocity of the sensitive mass of the seismometer ; K s is the nominal sensitivity of the seismometer;
当振动传感器为加速度计时,则计算公式为:When the vibration sensor is an accelerometer, the calculation formula is:
式中,vm(t)为参考镜的振动速度;τ为最优延时系数;K为最优增益系数;Ka为加速度计的标称灵敏度;Ua(t)为加速度计输出信号。In the formula, v m (t) is the vibration velocity of the reference mirror; τ is the optimal delay coefficient; K is the optimal gain coefficient; Ka is the nominal sensitivity of the accelerometer ; U a ( t) is the output signal of the accelerometer .
进一步的,所述步骤S7中,通过最优延时系数、最优增益系数计算每次原子干涉时的参考镜振动速度时,当振动传感器为加速度计时,则采用半周期积分算法计算参考镜振动速度。Further, in the step S7, when calculating the vibration speed of the reference mirror during each atomic interference by the optimal delay coefficient and the optimal gain coefficient, when the vibration sensor is an accelerometer, the half-cycle integration algorithm is used to calculate the vibration of the reference mirror. speed.
与现有技术相比,本发明具有的优点和积极效果是:Compared with the prior art, the present invention has the following advantages and positive effects:
本发明对环境具有极好的自适应性,其可以在测量环境改变时实现当时、当地最好的振动补偿效果,解决了现有振动补偿方法在测量环境改变时振动补偿效果相对下降的问题,有效提高了原子重力仪在振动环境中的振动补偿效果,从而提高了原子重力仪的测量精度,进一步给绝对重力的测量工作作出了一定的贡献。The invention has excellent adaptability to the environment, it can achieve the best vibration compensation effect at the time and place when the measurement environment changes, and solves the problem that the vibration compensation effect of the existing vibration compensation method is relatively reduced when the measurement environment changes, The vibration compensation effect of the atomic gravimeter in the vibration environment is effectively improved, thereby improving the measurement accuracy of the atomic gravimeter, and further making a certain contribution to the measurement of absolute gravity.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.
图1为浙江工业大学的振动补偿方法流程图;Fig. 1 is the flow chart of the vibration compensation method of Zhejiang University of Technology;
图2为原子干涉条纹示意图;Figure 2 is a schematic diagram of atomic interference fringes;
图3为地震计输出信号与参考镜真实振动的框架关系图;Fig. 3 is the frame relationship diagram of the output signal of the seismometer and the real vibration of the reference mirror;
图4为实施例1的振动补偿算法流程图;Fig. 4 is the vibration compensation algorithm flow chart of embodiment 1;
图5为实施例2的振动补偿算法流程图;Fig. 5 is the vibration compensation algorithm flow chart of embodiment 2;
图6为实施例10的振动补偿算法流程图。FIG. 6 is a flowchart of the vibration compensation algorithm of the tenth embodiment.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work, any modifications, equivalent replacements, improvements, etc., should be included in the protection scope of the present invention. Inside.
一、对原子干涉重力仪干涉条纹进行振动补偿的通用原理1. The general principle of vibration compensation for the interference fringes of the atomic interference gravimeter
原子重力仪基于冷原子物质波干涉原理,将激光脉冲作用到冷原子团,通过双光子受激拉曼跃迁或多光子布拉格衍射过程来实现原子干涉过程。以基于受激拉曼跃迁的原子重力仪为例,冷原子团在真空腔中自由下落,真空腔下方的平面参考镜将垂直向下的拉曼激光原路反射,使两束对射的激光同时作用于原子团,在此过程中三个连续的激光脉冲实现了原子波包的分束、反转和合束,分别为第1个π/2脉冲、π脉冲和第2个π/2脉冲,相邻脉冲的时间间隔为T。合束后任一能态的原子均由两条路径上的原子叠加而成,通过荧光信号可以探测脉冲作用后原子团的跃迁几率P,即干涉条纹,满足The atomic gravimeter is based on the principle of cold atomic matter wave interference, which applies laser pulses to cold atomic groups, and realizes the atomic interference process through two-photon stimulated Raman transition or multi-photon Bragg diffraction process. Taking the atomic gravimeter based on stimulated Raman transition as an example, the cold atomic group falls freely in the vacuum cavity, and the plane reference mirror under the vacuum cavity reflects the vertically downward Raman laser in the same way, so that the two opposite laser beams are simultaneously Acting on the atomic group, in the process, three consecutive laser pulses realize the beam splitting, inversion and beam combining of the atomic wave packets, which are the first π/2 pulse, π pulse and the second π/2 pulse, respectively. The time interval between adjacent pulses is T. The atoms in any energy state after the beam combination are formed by the superposition of atoms on the two paths. The transition probability P of the atomic group after the pulse can be detected by the fluorescence signal, that is, the interference fringe, which satisfies
其中,ΔФ为原子相位,与当地的重力加速度g有关;代表条纹对比度的系数A和B可以通过对干涉条纹进行余弦拟合得到。理想情况下,原子相位ΔФ等于其理论值ΔФth,即Among them, ΔФ is the atomic phase, which is related to the local gravitational acceleration g; the coefficients A and B representing the fringe contrast can be obtained by cosine fitting of the interference fringes. Ideally, the atomic phase ΔФ is equal to its theoretical value ΔФ th , i.e.
ΔΦth=(keffg-α)T2. (2)ΔΦ th =(k eff g-α)T 2 . (2)
其中,keff为有效波矢,α表示激光的扫频速率。重力仪的控制软件调控式(2)中的α线性增大,则原子相位ΔФ也将线性变化,使干涉条纹呈现为标准余弦信号的形式。此时P应与由P拟合出的标准信号Pfit完全相同,有Among them, k eff is the effective wave vector, and α represents the frequency sweep rate of the laser. The control software of the gravimeter controls the linear increase of α in formula (2), then the atomic phase ΔФ will also change linearly, so that the interference fringes appear in the form of standard cosine signals. At this time, P should be exactly the same as the standard signal P fit fitted by P, there are
但实际情况下,受到各种相位噪声的影响,原子相位ΔФ等于其实际值ΔФm,有But in practice, affected by various phase noises, the atomic phase ΔФ is equal to its actual value ΔФ m , there are
其中,Δφvib为参考镜振动引入的相位噪声,以下简称为振动相位;Δφothers为其他噪声源引入的相位噪声的总和,以下简称为其他相位噪声。此时P由Pfit变为Among them, Δφvib is the phase noise introduced by the vibration of the reference mirror, hereinafter referred to as the vibration phase; Δφothers is the sum of the phase noises introduced by other noise sources, hereinafter referred to as the other phase noise. At this time, P changes from P fit to
当振动相位在相位噪声中占主导时,依据上述原理可以确定修正干涉条纹P的振动补偿过程。When the vibration phase is dominant in the phase noise, the vibration compensation process for correcting the interference fringes P can be determined according to the above principles.
第一步,对原始实测条纹P(ΔФth)进行余弦拟合(注:条纹即为曲线,括号外为曲线的纵坐标,括号内为曲线的横坐标),得到拟合出的理论条纹Pfit(ΔФth)和式(1)中的系数A和B。The first step is to perform cosine fitting on the original measured fringe P(ΔФ th ) (Note: the fringe is the curve, outside the brackets is the ordinate of the curve, and inside the brackets is the abscissa of the curve) to obtain the fitted theoretical fringe P fit (ΔФ th ) and coefficients A and B in equation (1).
第二步,通过振动传感器获得一段时间t内参考镜的参考镜的真实振动速度vm,进而根据In the second step, the real vibration velocity v m of the reference mirror of the reference mirror within a period of time t is obtained through the vibration sensor, and then according to
计算出真实的振动相位Δφvib,其中S(t)为重力仪的灵敏度函数,T1和T3分别为第1个π/2脉冲和第2个π/2脉冲的作用时刻,均由重力仪控制软件的已知参数决定。还需要说明的是,虽然重力值g是待测的未知量,但在实际测量的初始阶段可以利用近似的粗测值gth代入式(2)计算理论原子相位ΔФth以获得拟合条纹Pfit,再通过后续测量和信号处理得到精确的实测值g。Calculate the real vibration phase Δφ vib , where S(t) is the sensitivity function of the gravimeter, T 1 and T 3 are the action moments of the first π/2 pulse and the second π/2 pulse, both determined by gravity It is determined by the known parameters of the instrument control software. It should also be noted that although the gravity value g is an unknown quantity to be measured, in the initial stage of the actual measurement, the approximate rough measured value g th can be substituted into the formula (2) to calculate the theoretical atomic phase ΔФ th to obtain the fitting fringe P. fit , and then obtain the accurate measured value g through subsequent measurement and signal processing.
第三步,计算出仅受振动影响时的原子相位ΔФv和跃迁几率Pv,即The third step is to calculate the atomic phase ΔФ v and the transition probability P v when only affected by vibration, namely
此时重新以ΔФv为横坐标、P为纵坐标得到的数据对P(ΔФv)即为修正后的干涉条纹,至此补偿过程结束。如图2所示,与原始条纹P(ΔФth)相比,修正条纹P(ΔФv)的横坐标有所移动,理论上应更接近标准余弦信号,即拟合出的理论条纹Pfit(ΔФth)。也就是说,对修正后的条纹P(ΔФv)再次进行余弦拟合时的拟合优度应高于对原始条纹P(ΔФth)进行拟合时的拟合优度。At this time, the data pair P(ΔФ v ) obtained by taking ΔФ v as the abscissa and P as the ordinate again is the corrected interference fringe, and the compensation process ends. As shown in Figure 2, compared with the original fringe P(ΔФ th ), the abscissa of the corrected fringe P(ΔФ v ) has shifted, and theoretically should be closer to the standard cosine signal, that is, the fitted theoretical fringe P fit ( ΔФ th ). That is to say, the goodness of fit when cosine fitting is performed on the modified stripe P(ΔФ v ) again should be higher than that when the original stripe P(ΔФ th ) is fitted.
二、本发明描述的振动补偿方法的具体原理2. The specific principle of the vibration compensation method described in the present invention
基于传递函数简化模型以实现上述振动补偿过程的方法包括硬件和软件两方面。The method for simplifying the model based on the transfer function to realize the above vibration compensation process includes both hardware and software.
硬件方面,采用一台独立的地震计或加速度计放在参考镜旁边或下方测量其振动。以地震计为例,受机械结构及地震计自身性能的限制,地震计输出信号Us(t)并不能完全真实地反应参考镜的振动速度vm(t),二者的关系如图3所示,其中Ga表示从地面振动速度到参考镜振动速度的传递函数,Gb表示从地面振动速度到地震计敏感质量振动速度的传递函数,Gc表示从敏感质量运动速度到地震计输出电压之间的传递函数。由于地震计内部的敏感质量与参考镜的实际位置必然存在水平和垂直差异,因此Ga与Gb不可能相等,且当地基材料改变时,这两个传递函数本身也可能发生变化。On the hardware side, a separate seismometer or accelerometer is used next to or below the reference mirror to measure its vibration. Taking the seismometer as an example, due to the limitation of the mechanical structure and the performance of the seismometer, the output signal U s (t) of the seismometer cannot completely and truly reflect the vibration velocity v m (t) of the reference mirror. The relationship between the two is shown in Figure 3. where Ga represents the transfer function from the ground vibration velocity to the reference mirror vibration velocity, G b represents the transfer function from the ground vibration velocity to the vibration velocity of the sensitive mass of the seismometer, and G c represents the velocity of the sensitive mass motion to the output of the seismometer transfer function between voltages. Since there must be horizontal and vertical differences between the sensitive mass inside the seismometer and the actual position of the reference mirror, G a and G b cannot be equal, and when the ground material changes, the two transfer functions themselves may also change.
另一方面,地震计自身的传递函数Gc并非幅频特性恒定、相频特性为线性的理想传递函数,且有可能随测量时间与环境的改变而发生变化(这是因为温度、湿度、气压等环境参数会对地震计内部的机电模块参数产生影响,且这些参数可能随时间发生漂移)。综上,参考镜的真实振动速度与地震计输出的电压信号之间的传递函数H满足On the other hand, the transfer function G c of the seismometer itself is not an ideal transfer function with constant amplitude-frequency characteristics and linear phase-frequency characteristics, and may change with the change of measurement time and environment (this is because of temperature, humidity, air pressure, etc.). and other environmental parameters will affect the parameters of the electromechanical modules inside the seismometer, and these parameters may drift over time). To sum up, the transfer function H between the real vibration velocity of the reference mirror and the voltage signal output by the seismometer satisfies
虽然实际情况中Ga、Gb、Gc不易测量且可能改变,导致测量人员无法得到总传递函数H的精确值,但由于单次重力测量任务中测量环境不会有显著变化,且测量时间一般不超过24小时,因此可以利用由一个延时系数τ和一个增益系数K组成的简化模型来估算H,并认为这两个系数的数值在当前测量过程中保持不变。由此可得图3的简化模型为Although G a , G b , and G c are not easy to measure and may change in practice, so that the surveyor cannot obtain the exact value of the total transfer function H, the measurement environment will not change significantly in a single gravimetric measurement task, and the measurement time Generally it does not exceed 24 hours, so a simplified model consisting of a delay coefficient τ and a gain coefficient K can be used to estimate H, and it is considered that the values of these two coefficients remain unchanged during the current measurement process. From this, the simplified model of Figure 3 can be obtained as
其中,Ks为地震计的标称灵敏度,由制造商提供。where K s is the nominal sensitivity of the seismometer, provided by the manufacturer.
理论上当延时系数τ和增益系数K取最接近真实值时,从地震计输出电压Us,根据式(9)计算出的参考镜振动速度vm也最接近真实值,对条纹的修正效果最好。因此振动补偿的具体思路为:给定τ和K的取值范围,选取某一表征拟合优度的参数值为优化目标,查找使该参数达到最优值时对应的最优延时系数τopt和最优增益系数Kopt。查找完毕后,设定延时为τopt、增益为Kopt的情况下,得到修正后的条纹P(ΔФv),重新计算作为优化目标的参数值。Theoretically, when the delay coefficient τ and the gain coefficient K are the closest to the true value, the output voltage U s of the seismometer and the vibration velocity vm of the reference mirror calculated according to equation (9) are also closest to the true value, and the correction effect on the fringe most. Therefore, the specific idea of vibration compensation is: given the value range of τ and K, select a parameter representing the goodness of fit as the optimization target, and find the corresponding optimal delay coefficient τ when the parameter reaches the optimal value. opt and the optimal gain coefficient K opt . After the search is completed, when the delay is set as τ opt and the gain as K opt , the corrected stripe P(ΔФ v ) is obtained, and the parameter value as the optimization target is recalculated.
由于实际上地震计自身的传递函数Gc并非理想形式,即幅频特性非常数、相频特性非线性等特点,因此地震计的输出信号Us(t)可能存在失真。所以在搜索延时系数τ和增益系数K前,可以首先用一个校正滤波器F对信号Us(t)进行处理,减小其失真程度。In fact, the transfer function G c of the seismometer itself is not an ideal form, that is, the amplitude-frequency characteristic is non-constant and the phase-frequency characteristic is nonlinear, so the output signal U s (t) of the seismometer may be distorted. Therefore, before searching for the delay coefficient τ and the gain coefficient K, a correction filter F can be used to process the signal U s (t) to reduce its distortion degree.
硬件部分由地震计更换为加速度计时,可以直接对加速度计的输出信号Ua(t)进行一次积分,结合延时系数和增益系数,得到参考镜振动信号vm(t)。The hardware part is replaced by an accelerometer from a seismometer. The output signal U a (t) of the accelerometer can be directly integrated once, and the reference mirror vibration signal v m (t) can be obtained by combining the delay coefficient and gain coefficient.
相应的计算公式为The corresponding calculation formula is
其中,Ka为加速度计的标称灵敏度,由制造商提供;积分时间根据实际需要设定,至少包含原子团自由下落的整个时间段。也可以采用半周期积分等其他积分算法从加速度计信号Ua(t)计算参考镜速度信号vm(t)。Among them, Ka is the nominal sensitivity of the accelerometer, which is provided by the manufacturer ; the integration time is set according to actual needs, at least including the entire time period during which the atomic group is free to fall. The reference mirror velocity signal vm (t) can also be calculated from the accelerometer signal U a (t) using other integration algorithms such as half-cycle integration.
三、实施例3. Examples
(1)实施例1(1) Example 1
一种用于修正原子干涉重力仪干涉条纹的振动补偿方法,其特征在于:包括以下步骤:A vibration compensation method for correcting interference fringes of an atomic interference gravimeter, characterized in that it comprises the following steps:
S1、给定扫频速率序列、重力参考值、脉冲间隔时长、有效波矢;S1. Given sweep rate sequence, gravity reference value, pulse interval duration, and effective wave vector;
S2、导入与扫频速率序列对应的实测跃迁几率序列、同时段内测量参考镜振动的振动传感器垂直方向输出信号、同时段内每次原子团下落前的触发信号;S2. Import the measured transition probability sequence corresponding to the frequency sweep rate sequence, the vertical output signal of the vibration sensor measuring the vibration of the reference mirror in the same period, and the trigger signal before each atomic group falls in the same period;
S3、通过原始条纹计算并设定原始条纹拟合时的RMSE值为优化目标;S3. Calculate and set the RMSE value of the original stripe fitting as the optimization target through the original stripe;
S4、根据触发信号分割地震计信号,得到每个跃迁几率对应的地震计信号;S4, dividing the seismometer signal according to the trigger signal to obtain the seismometer signal corresponding to each transition probability;
S5、给定延时系数以及增益系数的起始范围;S5, the starting range of the given delay coefficient and gain coefficient;
S6、通过遍历搜索法求取最优延时系数、最优增益系数;S6, obtain the optimal delay coefficient and the optimal gain coefficient through the traversal search method;
S7、通过最优延时系数、最优增益系数计算每次原子干涉时的参考镜振动速度,进而得到振动相位噪声序列、仅受振动影响的原子相位序列以及修正条纹,最终计算得到将修正条纹拟合到标准余弦信号时的RMSE值。S7. Calculate the vibration speed of the reference mirror during each atomic interference through the optimal delay coefficient and optimal gain coefficient, and then obtain the vibration phase noise sequence, the atomic phase sequence only affected by vibration, and the correction fringes, and finally calculate the correction fringes. RMSE value when fitted to a standard cosine signal.
该实施例中,硬件传感器采用地震计,输出信号为Us(t)。以拟合条纹时的RMSE值(Root Mean Square Error,均方根误差)为优化目标,先遍历搜索延时系数τ,再遍历搜索增益系数K。取RMSE值达到最小值时分别对应的延时系数和增益系数为τopt和Kopt。具体的算法流程如图4所示。In this embodiment, the hardware sensor adopts a seismometer, and the output signal is Us ( t ). Taking the RMSE value (Root Mean Square Error, root mean square error) when fitting stripes as the optimization goal, first traverse the search delay coefficient τ, and then traverse the search gain coefficient K. When the RMSE value reaches the minimum value, the corresponding delay coefficient and gain coefficient are respectively τ opt and K opt . The specific algorithm flow is shown in Figure 4.
(2)实施例2(2) Example 2
其步骤和实施例1相同,仍以拟合条纹时的RMSE值为优化目标,实施例2采用黄金分割法同时搜索延时系数τ和增益系数K。具体的算法流程如图5所示。The steps are the same as those in Embodiment 1, and the RMSE value when fitting the stripes is still used as the optimization target. In Embodiment 2, the golden section method is used to search for the delay coefficient τ and the gain coefficient K at the same time. The specific algorithm flow is shown in Figure 5.
(3)实施例3(3) Embodiment 3
对图4中“数据预处理”后的地震计信号Us(t)增加一个校正步骤,即用设定好的校正器传递函数F对该信号进行滤波,具体的滤波函数可以自主编写或利用软件自身的函数库。再对校正后的信号执行实施例1中“遍历搜索最优参数”和“结果计算”的流程。A correction step is added to the seismometer signal U s (t) after "data preprocessing" in Fig. 4, that is, the signal is filtered with the set corrector transfer function F. The specific filter function can be written or used independently. The software's own function library. The procedures of "traversing search for optimal parameters" and "result calculation" in Embodiment 1 are then performed on the corrected signal.
(4)实施例4(4) Embodiment 4
以拟合条纹时的R-square(可决系数)为优化目标,取R-square值达到最小值时分别对应的延时系数和增益系数为τopt和Kopt。搜索延时系数搜索和增益系数K的方法与实施例1相同,即遍历搜索。Taking the R-square (coefficient of determination) when fitting the stripes as the optimization objective, the delay coefficient and gain coefficient corresponding to the R-square value reaching the minimum value are taken as τ opt and K opt , respectively. The method for searching the delay coefficient search and the gain coefficient K is the same as that of Embodiment 1, that is, traversal search.
(5)实施例5(5) Example 5
以拟合条纹时的R-square(可决系数)为优化目标,取R-square值达到最小值时分别对应的延时系数和增益系数为τopt和Kopt。搜索延时系数和搜索增益系数K与实施例2相同,即采用黄金分割法。Taking the R-square (coefficient of determination) when fitting the stripes as the optimization objective, the delay coefficient and gain coefficient corresponding to the R-square value reaching the minimum value are taken as τ opt and K opt , respectively. The search delay coefficient and the search gain coefficient K are the same as those in Embodiment 2, that is, the golden section method is adopted.
(6)实施例6(6) Embodiment 6
RMSE值具有简单直观的数学含义,但物理意义不明显。因此可以用另一种更具有物理意义的变量作为优化目标,即干涉条纹拟合残差的变化。搜索系数的步骤与实施例1相同,仍为先遍历搜索延时系数τ,再遍历搜索增益系数K。The RMSE value has a simple and intuitive mathematical meaning, but the physical meaning is not obvious. Therefore, another variable with more physical meaning can be used as the optimization target, that is, the change of the interference fringe fitting residual. The steps of searching for coefficients are the same as those in Embodiment 1, and are still traversing the search delay coefficient τ first, and then traversing the search gain coefficient K.
运行振动补偿算法前,先计算出原始条纹P(ΔФth)相较于理论条纹Pfit(ΔФth)的残差Rm(ΔФth)的标准差σm。运行振动补偿算法时,给定当前的延时系数τ,根据式(6)(7)(9)得到仅受振动影响的干涉条纹Pv相较于理论条纹Pfit的残差Rv。同时,记原始条纹P与仅受振动影响的条纹Pv的差值为Rc。显然Rc也就是原始条纹残差Rm与仅受振动影响的条纹残差Rv的差值,相当于去除振动影响后的条纹残差。理论上振动补偿效果越好,则振动相位Δφvib的计算越准确,推算出的仅由振动引入的条纹残差Rv也越接近原始条纹残差Rm。此时Rc将趋近于仅由其他相位噪声Δφothers引入的条纹残差,其标准差σc也应趋于最小值。因此,实施例6将σc设为优化目标,以σc达到最小值时分别对应的延时系数和增益系数为τopt和Kopt;延时系数和增益系数的搜索方法同实施例1,即分别遍历搜索。Before running the vibration compensation algorithm, first calculate the standard deviation σ m of the residual R m (ΔФ th ) of the original fringe P (ΔФ th ) compared to the theoretical fringe P fit (ΔФ th ). When running the vibration compensation algorithm, given the current delay coefficient τ, the residual R v of the interference fringes P v only affected by vibration compared to the theoretical fringes P fit is obtained according to equations (6) (7) (9). Meanwhile, the difference between the original fringe P and the fringe P v only affected by vibration is recorded as R c . Obviously, R c is the difference between the original fringe residual R m and the fringe residual R v only affected by vibration, which is equivalent to the fringe residual after removing the vibration effect. Theoretically, the better the vibration compensation effect is, the more accurate the calculation of the vibration phase Δφvib will be, and the calculated fringe residual R v only caused by vibration will be closer to the original fringe residual R m . At this time, R c will approach the fringe residual only introduced by other phase noises Δφ others , and its standard deviation σ c should also approach the minimum value. Therefore, in Embodiment 6, σ c is set as the optimization target, and the corresponding delay coefficients and gain coefficients respectively when σ c reaches the minimum value are τ opt and K opt ; That is, traverse searches separately.
(7)实施例7(7) Example 7
以实施例6中的干涉条纹残差标准差σc为优化目标,采用实施例2中的黄金分割法,同时搜索延时系数τ和增益系数K。Taking the interference fringe residual standard deviation σ c in the embodiment 6 as the optimization target, the golden section method in the embodiment 2 is adopted, and the delay coefficient τ and the gain coefficient K are simultaneously searched.
(8)实施例8(8) Example 8
如实施例6所述,理论上振动补偿效果越好,推算出的仅由振动引入的条纹残差Rv也越接近原始条纹残差Rm。因此实施例8以Rm和Rv的相关系数CR为优化目标,遍历搜索延时系数τ,以CR的绝对值达到最大值时对应的延时系数为τopt。As described in Example 6, theoretically, the better the vibration compensation effect is, the closer the calculated fringe residual R v only caused by vibration is to the original fringe residual R m . Therefore, Embodiment 8 takes the correlation coefficient CR of R m and R v as the optimization target, traverses and searches for the delay coefficient τ, and takes the corresponding delay coefficient when the absolute value of CR reaches the maximum value as τ opt .
由于计算相关系数时需要对原始数据进行归一化处理,因此CR无法作为搜索增益系数时的优化目标。此处可以采用实施例1中的RMSE值作为遍历搜索增益系数K的优化目标。Since the original data needs to be normalized when calculating the correlation coefficient, CR cannot be used as the optimization target when searching for the gain coefficient. Here, the RMSE value in Embodiment 1 can be used as the optimization target of traversing the search gain coefficient K.
(9)实施例9(9) Example 9
以实施例8中的相关系数CR为优化目标,遍历搜索延时系数τ。再以实施例6中的干涉条纹残差标准差σc为优化目标,遍历搜索增益系数K。Taking the correlation coefficient CR in Embodiment 8 as the optimization target, the search delay coefficient τ is traversed. Then, the standard deviation σ c of the interference fringe residuals in Example 6 is taken as the optimization target, and the gain coefficient K is traversed and searched.
(10)实施例10(10) Example 10
振动补偿的硬件传感器更换为加速度计,输出信号为Ua(t)。此时采用一次积分并结合延时系数和增益系数即可从Ua(t)得到参考镜的振动速度信号vm(t)。仍与实施例1步骤相同,以拟合条纹时的RMSE值为优化目标,分别遍历搜索延时系数τ和增益系数K。具体的算法流程如图6所示。The hardware sensor for vibration compensation is replaced by an accelerometer, and the output signal is U a (t). At this time, the vibration velocity signal vm (t) of the reference mirror can be obtained from U a (t) by using one integration and combining the delay coefficient and the gain coefficient. Still the same steps as in Embodiment 1, take the RMSE value when fitting the fringes as the optimization target, and traverse the search delay coefficient τ and gain coefficient K respectively. The specific algorithm flow is shown in Figure 6.
(11)实施例11(11) Example 11
振动补偿的硬件传感器仍为加速度计,实施例10中从加速度信号Ua(t)计算速度信号vm(t)的方法采用半周期积分法。仍以拟合条纹时的RMSE值为优化目标,分别遍历搜索延时系数τ和增益系数K。The hardware sensor for vibration compensation is still an accelerometer, and the method for calculating the velocity signal v m (t) from the acceleration signal U a (t) in Embodiment 10 adopts the half-cycle integration method. Still taking the RMSE value when fitting the stripes as the optimization objective, traverse the search delay coefficient τ and gain coefficient K respectively.
本发明对环境具有极好的自适应性,其可以在测量环境改变时实现当时、当地最好的振动补偿效果,解决了现有振动补偿方法在测量环境改变时振动补偿效果相对下降的问题,有效提高了原子重力仪在振动环境中的振动补偿效果,从而提高了原子重力仪的测量精度,进一步给绝对重力的测量工作作出了一定的贡献。The invention has excellent adaptability to the environment, it can achieve the best vibration compensation effect at the time and place when the measurement environment changes, and solves the problem that the vibration compensation effect of the existing vibration compensation method is relatively reduced when the measurement environment changes, The vibration compensation effect of the atomic gravimeter in the vibration environment is effectively improved, thereby improving the measurement accuracy of the atomic gravimeter, and further making a certain contribution to the measurement of absolute gravity.
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