CN115855013A - Range expanding system and method of cold atom interference gyroscope - Google Patents

Range expanding system and method of cold atom interference gyroscope Download PDF

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CN115855013A
CN115855013A CN202211579059.1A CN202211579059A CN115855013A CN 115855013 A CN115855013 A CN 115855013A CN 202211579059 A CN202211579059 A CN 202211579059A CN 115855013 A CN115855013 A CN 115855013A
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gyroscope
cold atom
interference
atom interference
angular velocity
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刘为任
赵小明
路想想
刘简
裴栋梁
武丽花
韦俊新
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707th Research Institute of CSIC
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Abstract

The invention relates to a measuring range expanding system and method of a cold atom interference gyroscope, which utilize output information of the cold atom interference gyroscope and an optical gyroscope, estimate the expanding periodicity of the phase of the cold atom interference gyroscope by adopting a maximum likelihood method, perform data fusion on the expanding periodicity and the output of the cold atom interference gyroscope to obtain two expanding output values of the cold atom interference gyroscope, compare the obtained two expanding output values of the cold atom interference gyroscope with the output value of the optical gyroscope, and perform uniqueness judgment by taking the minimum absolute value of a difference value as a judgment basis to obtain a final angular velocity. The invention integrates the advantages of the cold atom interference gyroscope and the optical gyroscope, solves the contradiction between wide range and high resolution ratio of angular velocity measurement, and can realize wide range and high resolution ratio measurement of angular velocity. Meanwhile, the problem that the cold atom interference gyroscope cannot be used for inertial navigation due to small dynamic measurement range is solved, and a technical basis is laid for the cold atom interference gyroscope to be used for inertial navigation.

Description

Range expanding system and method of cold atom interference gyroscope
Technical Field
The invention belongs to the technical field of inertial measurement, and particularly relates to a range expansion system and method of a cold atom interference gyroscope.
Background
The working principle of the cold atom interference gyroscope is to separate cold atom groups into two free-flying and spatially separated atom groups, and the change of the vertical displacement of the atom movement direction along with the time is used for simulating two paths of the interferometer. Laser pulses with resonance frequency of atomic ground state energy level spacing are generally adopted to control atomic groups, so that the atomic groups are separated, reflected and combined to form a closed interference loop with a certain area. When the atomic interference gyroscope is subjected to the rotating action of an external carrier, atomic groups passing through two different paths have phase difference. The rotation information can be calculated by collecting the number of atoms per probe port.
The cold atom interference gyroscope is used as a new generation angular velocity measuring sensor, has ultrahigh precision potential, and brings new opportunity for improving the precision of the inertial navigation system. The cold atom interference gyroscope has good zero offset stability and repeatability and extremely high expected precision, but the existing cold atom interference gyroscopes all work in an open loop state, have small dynamic measurement range and cannot be directly applied to an inertial navigation system. Therefore, the dynamic range expansion of the cold atom interference gyroscope is a key technology for realizing inertial navigation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a range expansion system and method of a cold atom interference gyroscope.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the range expansion system of the cold atom interference gyroscope comprises a cold atom interference gyroscope, an optical gyroscope, a phase expansion cycle number estimation module, a data fusion module and a data uniqueness judgment module, wherein angular velocities are input into the input ends of the cold atom interference gyroscope and the optical gyroscope respectively, the output ends of the cold atom interference gyroscope and the optical gyroscope are connected with the input end of the phase expansion cycle number estimation module, the data fusion module and the data uniqueness judgment module are connected in series, the output end of the cold atom interference gyroscope is connected with the input end of the data fusion module, the output end of the optical gyroscope is connected with the input end of the data uniqueness judgment module, and the output end of the data uniqueness judgment module outputs a final angular velocity.
And the cold atom interference gyro and the input shaft of the optical gyro are coaxially mounted.
A range extension method of a range extension system of a cold atom interference gyroscope comprises the following steps:
step 1, converting the angular velocity omega in Respectively input to the input ends of the cold atom interference gyro and the optical gyro;
step 2, measuring the angular velocity of the sensitive carrier by the cold atom interference gyroscope, and outputting an atom layout number S a (ii) a Optical gyroscope for measuring angular velocity and output angular velocity omega of sensitive carrier o ；
Step 3, the phase expansion periodicity estimation module outputs atom layout number S according to the cold atom interference gyroscope a And optical gyro 3 output angular velocity omega o Estimating the possible phase expansion period number of the cold atom interference gyro by adopting a maximum flame-out method
Figure BDA0003985154310000011
And &>
Figure BDA0003985154310000012
Step 4, the data fusion module arranges the atom number S a And number of phase extension cycles
Figure BDA0003985154310000021
And master->
Figure BDA0003985154310000022
The fusion calculation yields a possible output angular speed->
Figure BDA0003985154310000023
And &>
Figure BDA0003985154310000024
Step 5, the data uniqueness judgment module outputs omega according to the optical gyroscope o For output angular velocity
Figure BDA0003985154310000025
And &>
Figure BDA0003985154310000026
And (6) carrying out uniqueness judgment and outputting the final angular speed.
And 2, outputting the atom layout number S by the angular velocity of the cold atom interference gyro sensitive carrier in the step 2 a The specific implementation method comprises the following steps:
Figure BDA0003985154310000027
wherein N is the total number of atoms participating in interference, C is the contrast of interference fringes, and k eff =4 pi/lambda is effective wave vector, lambda is wavelength of Raman laser, pi is a circumferential rate constant, g is local gravitational acceleration, T is half of total interference time, phi 0 Is the initial phase.
Moreover, the specific implementation method of step 3 is as follows:
Figure BDA0003985154310000028
Figure BDA0003985154310000029
wherein N is the total number of atoms participating in interference, C is the contrast of interference fringes, and k eff =4 pi/lambda is effective wave vector, lambda is wavelength of Raman laser, pi is a circumferential rate constant, g is local gravitational acceleration, T is half of total interference time, phi 0 Is the initial phase
Moreover, the specific implementation method of the step 4 is as follows;
Figure BDA00039851543100000210
Figure BDA00039851543100000211
wherein N is the total number of atoms participating in interference, C is the contrast of interference fringes, and k eff =4 pi/lambda is effective wave vector, lambda is wavelength of Raman laser, pi is a circumferential rate constant, g is local gravitational acceleration, T is half of total interference time, phi 0 Is the initial phase.
Moreover, the specific implementation method of step 5 is as follows:
δ 1 ＝|ω 1 -ω o |
δ 2 ＝|ω 2 -ω o |
determine if delta 1 ≤δ 2 If delta 1 ≤δ 2 Then cold atom interference gyro output omega out ＝ω 1 Otherwise, the cold atom interference gyro outputs omega out ＝ω 2 。
The invention has the advantages and positive effects that:
the method comprises the steps of utilizing output information of a cold atom interference gyroscope and an optical gyroscope, estimating the number of expansion cycles of the phase of the cold atom interference gyroscope by adopting a maximum likelihood method, carrying out data fusion on the number of expansion cycles and the output of the cold atom interference gyroscope to obtain two cold atom interference gyroscope expansion output values, comparing the obtained two cold atom interference gyroscope expansion output values with the output value of the optical gyroscope, and carrying out uniqueness judgment by taking the minimum absolute value of the difference as a judgment basis to obtain the final angular velocity. The invention integrates the advantages of the cold atom interference gyroscope and the optical gyroscope, solves the contradiction between wide range and high resolution ratio of angular velocity measurement, and can realize wide range and high resolution ratio measurement of angular velocity. Meanwhile, the problem that the cold atom interference gyroscope cannot be used for inertial navigation due to small dynamic measurement range is solved, and a technical basis is laid for the cold atom interference gyroscope to be used for inertial navigation.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of the coaxial installation of a cold atom interferometric gyroscope and an optical gyroscope according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A measuring range expanding system of a cold atom interference gyroscope is shown in figure 1 and comprises a cold atom interference gyroscope, an optical gyroscope, a phase expansion periodicity estimation module, a data fusion module and a data uniqueness judgment module, wherein angular velocities are input into input ends of the cold atom interference gyroscope and the optical gyroscope respectively, output ends of the cold atom interference gyroscope and the optical gyroscope are connected with an input end of the phase expansion periodicity estimation module, the data fusion module and the data uniqueness judgment module are connected in series, an output end of the cold atom interference gyroscope is connected with an input end of the data fusion module, an output end of the optical gyroscope is connected with an input end of the data uniqueness judgment module, and an output end of the data uniqueness judgment module outputs a final angular velocity.
As shown in fig. 2, the input shafts of the cold atom interference gyro and the optical gyro are coaxially installed. And the OXYZ is an orthogonal rectangular coordinate system, and the input shafts of the optical gyroscope and the cold atom interference gyroscope are Z shafts.
A range extension method of a range extension system of a cold atom interference gyroscope comprises the following steps:
step 1, converting the angular velocity omega in Respectively input to the input ends of the cold atom interference gyro and the optical gyro;
step 2, cold atom dryingGyro-related measurement of angular velocity of sensitive carrier, the same applies below), and output of atomic arrangement number S a (ii) a Optical gyroscope for measuring angular velocity and output angular velocity omega of sensitive carrier o 。
Cold atom interference gyro sensitive carrier angular speed and output atom layout number S a The specific implementation method comprises the following steps:
Figure BDA0003985154310000031
wherein N is the total number of atoms participating in interference, C is the contrast of interference fringes, and k eff =4 pi/lambda is effective wave vector, lambda is wavelength of Raman laser, pi is a circumferential rate constant, g is local gravitational acceleration, T is half of total interference time, phi 0 Is the initial phase.
Outputting atom layout number S according to cold atom interference gyro a In relation to the input angular velocity ω in Can see that one atom layout number S a For a number (n =0, 1.) of possible angular velocity input values:
Figure BDA0003985154310000041
further obtaining:
Figure BDA0003985154310000042
or
Figure BDA0003985154310000043
Step 3, the phase expansion periodicity estimation module outputs atom layout number S according to the cold atom interference gyroscope a And optical gyro 3 output angular velocity omega o Estimating the possible phase expansion period number of the cold atom interference gyro by adopting a maximum flame-out method
Figure BDA0003985154310000044
And &>
Figure BDA0003985154310000045
Figure BDA0003985154310000046
Figure BDA0003985154310000047
Step 4, the data fusion module arranges the atom number S a And number of phase extension cycles
Figure BDA0003985154310000048
And master->
Figure BDA0003985154310000049
The fusion calculation yields a possible output angular speed->
Figure BDA00039851543100000410
And &>
Figure BDA00039851543100000411
Figure BDA00039851543100000412
Figure BDA00039851543100000413
Step 5, the data uniqueness judgment module outputs omega according to the optical gyroscope o To output angular velocity
Figure BDA00039851543100000414
And &>
Figure BDA00039851543100000415
And (5) performing uniqueness judgment and outputting the final angular speed.
δ 1 ＝|ω 1 -ω o |
δ 2 ＝|ω 2 -ω o |
Determine whether delta 1 ≤δ 2 If delta 1 ≤δ 2 Then cold atom interference gyro output omega out ＝ω 1 Otherwise, cold atom interference gyro outputs omega out ＝ω 2 。
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.

Claims (7)

1. The measuring range expanding system of the cold atom interference gyroscope is characterized in that: the system comprises a cold atom interference gyroscope, an optical gyroscope, a phase expansion periodicity estimation module, a data fusion module and a data uniqueness judgment module, wherein angular velocities are respectively input into input ends of the cold atom interference gyroscope and the optical gyroscope, output ends of the cold atom interference gyroscope and the optical gyroscope are connected with the input end of the phase expansion periodicity estimation module, the data fusion module and the data uniqueness judgment module are connected in series, an output end of the cold atom interference gyroscope is connected with an input end of the data fusion module, an output end of the optical gyroscope is connected with an input end of the data uniqueness judgment module, and an output end of the data uniqueness judgment module outputs a final angular velocity.
2. The range extension system of a cold atom interferometric gyroscope of claim 2, wherein: and the cold atom interference gyroscope and the input shaft of the optical gyroscope are coaxially arranged.
3. A span extension method of the span extension system of the cold atom interference gyroscope of claim 1 or 2, characterized by: the method comprises the following steps:
step 1, converting the angular velocity omega in Respectively input to the input ends of the cold atom interference gyro and the optical gyro;
step 2, measuring the angular velocity of the sensitive carrier by using a cold atom interference gyroscope and outputting an atom layout number S a (ii) a Optical gyroscope for measuring angular velocity and output angular velocity omega of sensitive carrier o ；
Step 3, the phase expansion periodicity estimation module outputs atom layout number S according to the cold atom interference gyroscope a And the output angular velocity omega of the optical gyroscope 3 o Estimating the possible phase expansion period number of the cold atom interference gyro by adopting a maximum flame-out method
Figure QLYQS_1
And &>
Figure QLYQS_2
Step 4, the data fusion module arranges the atom number S a And number of phase extension cycles
Figure QLYQS_3
And master>
Figure QLYQS_4
Fusion calculation to yield a possible output angular speed>
Figure QLYQS_5
And &>
Figure QLYQS_6
Step 5, the data uniqueness judgment module outputs omega according to the optical gyroscope o For output angular velocity
Figure QLYQS_7
And &>
Figure QLYQS_8
And (6) carrying out uniqueness judgment and outputting the final angular speed.
4. The range extension method of the range extension system of the cold atom interference gyroscope of claim 3, wherein: in the step 2, the cold atom interference gyro sensitive carrier angular velocity outputs an atom layout number S a The specific implementation method comprises the following steps:
Figure QLYQS_9
wherein N is the total number of atoms participating in interference, C is the contrast of interference fringes, and k eff =4 pi/lambda is effective wave vector, lambda is wavelength of Raman laser, pi is a circumferential rate constant, g is local gravitational acceleration, T is half of total interference time, phi 0 Is the initial phase.
5. The range extension method of the range extension system of the cold atom interference gyroscope of claim 3, wherein: the specific implementation method of the step 3 is as follows:
Figure QLYQS_10
Figure QLYQS_11
wherein N is the total number of atoms participating in interference, C is the contrast of interference fringes, and k eff =4 pi/lambda is effective wave vector, lambda is wavelength of Raman laser, pi is a circumferential rate constant, g is local gravitational acceleration, T is half of total interference time, phi 0 Is the initial phase.
6. The range extension method of the range extension system of the cold atom interference gyroscope of claim 3, wherein: the specific implementation method of the step 4 is as follows;
Figure QLYQS_12
Figure QLYQS_13
wherein N is the total number of atoms participating in interference, C is the contrast of interference fringes, and k eff =4 pi/lambda is effective wave vector, lambda is wavelength of Raman laser, pi is circumferential rate constant, g is local gravitational acceleration, T is half of total interference time, phi 0 Is the initial phase.
7. The range extension method of the range extension system of the cold atom interference gyroscope of claim 3, wherein: the specific implementation method of the step 5 is as follows:
δ 1 ＝|ω 1 -ω o |
δ 2 ＝|ω 2 -ω o |
determine whether delta 1 ≤δ 2 If delta 1 ≤δ 2 Then cold atom interference gyro output omega out ＝ω 1 Otherwise, cold atom interference gyro outputs omega out ＝ω 2 。
CN202211579059.1A 2022-12-07 2022-12-07 Range expanding system and method of cold atom interference gyroscope Pending CN115855013A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118111477A (en) * 2024-04-26 2024-05-31 中国船舶集团有限公司第七〇七研究所 Method for controlling azimuth damping parameters of inertial navigation system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118111477A (en) * 2024-04-26 2024-05-31 中国船舶集团有限公司第七〇七研究所 Method for controlling azimuth damping parameters of inertial navigation system

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