CN209485369U - A kind of zero bias self calibration atomic gyroscope - Google Patents
A kind of zero bias self calibration atomic gyroscope Download PDFInfo
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- CN209485369U CN209485369U CN201920627701.6U CN201920627701U CN209485369U CN 209485369 U CN209485369 U CN 209485369U CN 201920627701 U CN201920627701 U CN 201920627701U CN 209485369 U CN209485369 U CN 209485369U
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Abstract
The utility model discloses a kind of zero bias self calibration atomic gyroscopes, comprising: at least two sensors, signal processing and control system, magnetic field drivers；The sensor includes: atomic air chamber and magnetic field and magnetic screen portion, pumping optical path and detection optical path.The utility model can be realized gyro and continuously export in a dynamic condition, it inverts the difference of the respective corresponding Larmor frequency difference of dual-isotope of former and later two gauge outfits by calculating and main field closed-loop control precision can be influenced without being drifted about by alkali metal magnetic field and electric with precise and stable main field.
Description
Technical field
The utility model belongs to atomic sensor technical field more particularly to atomic gyroscope.
Background technique
Atomic gyroscope based on atomic spin can achieve the precision level of present laser gyroscope, meet Tactics-level essence
The demand for spending Navigation Control has in miniaturization and low cost and has great advantage.United States Patent (USP) (US4157495) describes one kind
Atom laser gyroscope based on nuclear magnetic resonance makes intert-gas atoms generate macroscopic moment, is being laterally applied to using spin-exchange polarization
The alternating excitation magnetic field that one frequency is equal to Larmor frequency maintains nuclear spin precession, and the frequency in transversely excited magnetic field need to pass through feedback
It is allowed to the Larmor precession frequency consistently equal to observed, the change for observing Larmor frequency is exactly the angular speed of carrier rotation.State
Interior patent (application number 201410850412.4, application number 201410785182.8, application number 201310503732.8) is substantially former
It manages all identical as foreign patent (US4157495).Above-mentioned patent is in order to realize high-precision angular rate measurement, using two kinds of nucleic,
To eliminate angular speed drift caused by main field is drifted about, sampling the method can achieve the bias stability less than 0.1 °/h.
Under the premise of this method establishes equal along sensitive direction magnetic field near two kinds of isotope atom cores, actually in addition to main field B0
In addition, the electric dipole moment generation of the Isotopes of magnetic field and nuclear spin greater than 1/2 generated there is also alkali metal atom polarization
Equivalent Magnetic Field.By taking 129Xe, 131Xe as an example, corresponding Larmor frequency are as follows:
ω129=B0γ129+δ129S+ωr；
ω131=B0γ131+δ131S+ωr+Q；
Wherein γ129、γ131The gyromagnetic ratio of respectively two kinds nucleic, δ129、δ131The alkali metal that respectively two kinds of nucleic are subject to
The coefficient of polarizing magnetic field, ω129For carrier system turning rate, Q is the corresponding Equivalent Magnetic Field of 131Xe electric.
The Larmor precession frequency of two kinds of nucleic is poor are as follows: ω129-ω131=(γ129-γ131)B0+(δ129-δ131)S-Q
If two are drifted about at any time after in above formula, stablize B by way of locking difference frequency0, which will reflection
In B0In compensation rate, B can not achieve0High-precision locking.On the other hand, in addition to B0Zero offset error caused by drifting about, other factors
Zero offset error caused by (alkali metal field, electric, system clock frequency etc.) can not be eliminated.
Existing gyroscope is in order to realize high-precision angular rate measurement, by using two kinds of nucleic to eliminate main field drift
Caused angular speed drift reaches preferable bias stability, but two kinds of isotope atom cores are nearby along sensitive direction magnetic field
Under the premise of equal, actually other than main field, the magnetic field and nuclear spin generated there is also alkali metal atom polarization is big
In the Equivalent Magnetic Field that the electric dipole moment of 1/2 Isotopes generates, if drifted about at any time, stablized by way of locking difference frequency
Magnetic field, drift value will appear in compensation rate, can not achieve the high-precision locking in magnetic field；In addition, by other factors (alkali metal
Field, electric, system clock frequency etc.) caused by zero offset error can not eliminate.In conclusion under existing technological means,
The bias instaility of gyroscope is to be improved.
Utility model content
The purpose of this utility model is that solve existing magnetic resonance gyroscope instrument and using dual-isotope atomic nucleus
Element locking main field when by alkali metal field and electric Equivalent Magnetic Field drift influenced and can not precise and stable main field, and
And it cannot achieve the self-alignment problem of gyro zero offset error and a kind of zero bias self calibration atomic gyroscope be provided.
The utility model achieves the above object through the following technical schemes: a kind of zero bias self-correcting quasiatom of the utility model
Gyroscope, comprising:
At least two sensors；
Signal processing and control system are calculated for field compensation and are adjusted with Larmor precession frequency；The signal processing
There is zero bias observer with set-up of control system, is calculated for zero offset error；
Magnetic field drivers are adjusted for sensor magnetic field；
The sensor, signal processing and control system, magnetic field drivers are sequentially connected；
The sensor includes:
Atomic air chamber and magnetic field and magnetic screen portion, for providing work atom and uniform and stable magnetic field environment；
Optical path is pumped, atomic state is used to prepare；
Optical path is detected, Measurement atom Larmor precession is used for.
The utility model has the beneficial effects that: using two gauge outfits arranged in the same direction, the main field direction of two gauge outfits
It successively changes, two respective zero bias of gauge outfit can be picked out using the measurement data of former and later two reversed gauge outfits of main field
Error realizes that gyro continuously exports in a dynamic condition.Moreover, passing through calculating during realizing main field closed-loop stabilization
The difference for inverting the respective corresponding Larmor frequency difference of dual-isotope of former and later two gauge outfits can be with precise and stable main field, without by alkali
The influence that metal magnetic field and electric drift about to main field closed-loop control precision.
Detailed description of the invention
Fig. 1 is the utility model principle schematic diagram；
Fig. 2 is the structural schematic diagram of gauge outfit；
Fig. 3 is double gauge outfit main field control principle drawings；
Fig. 4 is main field successively reversed state diagram
Fig. 5 is the utility model control principle drawing.
In figure: 1- gauge outfit A；2- detects optical path B；3- gauge outfit B；4- pumps optical path B；5- signal processing and control system；6-
Magnetic field drivers B；7- magnetic field drivers A；8- pumps optical path A；9- detects optical path A；101- magnetic screen；102-X axial coil；103-
Z axis circle；104- gas chamber；105-Y axial coil；106- is without magnetic heating sheet；801- pump laser；802- beam-expanding collimation mirror；
Wave plate；901- detecting laser；902- beam-expanding collimation mirror；903- polariscope；904- half-wave plate；905- polarization spectro
Mirror；906- difference photodetector.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing:
As shown in Figure 1, a kind of zero bias self calibration atomic gyroscope of the utility model, comprising:
At least two sensors；Signal processing and control system calculate and Larmor precession frequency tune for field compensation
It is whole；The signal processing and set-up of control system have zero bias observer, calculate for zero offset error；Magnetic field drivers, for passing
Sensor flux control；The sensor, signal processing and control system, magnetic field drivers are sequentially connected.
The sensor includes: atomic air chamber and magnetic field and magnetic screen portion, for providing work atom and uniform and stable
Magnetic field environment；Optical path is pumped, atomic state is used to prepare；Optical path is detected, Measurement atom Larmor precession is used for.The atomic air chamber
It include the atomic air chamber being arranged from inside to outside, without magnetic heating sheet, coil and magnetic screen shell with magnetic field and magnetic screen portion.The pump
Pu optical path includes the pump laser set gradually, beam-expanding collimation mirror A and wave plate.The detection optical path includes the spy set gradually
Survey laser, beam-expanding collimation mirror B, polariscope.The atomic air chamber storage inside has alkali metal, gas is quenched and two kinds of isotopes
Atomic gas.
The present embodiment zero bias self calibration gyroscope includes the identical sensor of two structure compositions, including gauge outfit, pump light
Road and detection optical path.Gauge outfit includes the glass gas chamber set gradually from inside to outside, without magnetic heating sheet, coil and magnetic screen shell.
Coil includes x-axis circle, y-axis circle and z-axis line circle, be respectively configured to provide along X to excitation field, along the main field B of Z-direction0
With along the compensation magnetic field of Y-direction.Glass plenum interior filled with alkali metal, gas N2, buffering gas He and two kinds of isotope atoms is quenched
Gas.Gas chamber inner surface is coated with rubidium hydride film.Magnetic shielding material uses multilayered structure, and innermost layer is using high permeability materials (μ gold
Belong to) to provide high magnetic screening coefficient, outer layer uses low permeability magnetic material with diamagnetic saturation intensity with higher.
Pump light is generated by pump laser, forms circularly polarized light after beam-expanding collimation, quarter wave plate, enters gas along Z axis
Room.The frequency of pump light and alkali metal D1 line are slightly detuning.Detection light generated by detecting laser, it is collimated expand, polariscope
Gas chamber is extended laterally through, passes through 1/2 wave plate and polarization spectroscope later, then received by difference photodetector and be converted into photoelectricity
Signal, photosignal entering signal and processing control system.Pumping optical path, which is realized, changes the laser to resonate with alkali metal D1 line
For circularly polarized light, enter gas chamber along z-axis after beam-expanding collimation.
Alkali metal is Cs or Rb.Alkali metal forms saturation vapour of an alkali metal, no magnetic heating under the heating of no magnetic heating sheet
Piece is used to heating and keeping gas chamber temperature into the polarizability for being conducive to improve alkali metal to 100~140 DEG C.In the work of pump light
Under, alkali metal atom generates macroscopical spin polarization, and by Spin exchange interaction, macroscopical spin polarization passes to isotope atom
Core, isotope atom nuclear spin polarization carry out Larmor precession, the side of precession around main field under the action of z-axis biases main field
To related with the positive negativity of the gyromagnetic ratio of magnetic direction and isotope, when changing the direction of main field, precession direction also occurs instead
To.
There are two effects for transverse magnetic field, first is that the compensation of lateral residual magnetic field is realized, second is that swashing by lateral x-axis magnetic field
The magnetic resonance of isotope atom nuclear magnetic moment is realized in the effect of encouraging, and transversely excited magnetic field is sine wave, and frequency is in closed loop magnetic resonance control
It is adjusted in real time under the action of device processed, the Larmor precession frequency ω for the nuclear magnetic moment for being consistently equal to its frequency under carrier systemL。
Component K of the isotope atom nuclear spin precession vector in y-axis directionyIt may be expressed as:
Wherein, K⊥For amplitude of the nuclear spin in the face xy.
Alkali metal plays the role of magnetometer in place simultaneously.Alkali metal electron spin under biasing main field effect in addition to producing
Raw Larmor precession, while the effect by z-axis direction high frequency carrier and the isotope atom nuclear spin for doing Larmor precession, alkali
Metal electron spin is expressed from the next:
Wherein J0、J-1For Bessel function, SzFor alkali metal electron spin z to component, γAFor alkali metal gyromagnetic ratio,
BKFor the proportionality coefficient in the isotope atom core precession magnetic field that alkali metal atom is experienced, KyFor isotope atom nuclear spin polarization
Y to component, α be to sensor signal carry out phase sensitive detection delayed phase,BCIt is z to sinusoidal carrier magnetic field
Amplitude, ωcFor the frequency in carrier wave magnetic field, Γ is pressure broadening constant.
The a branch of linearly polarized light slightly lacked of proper care with alkali metal D2 line of detection optical routing is after beam-expanding collimation along x to entering gas
Room.Under the action of alkali metal electron spin, the left-handed and dextropolarization ingredient refractive index detected in light creates a difference, and causes
Detection light polarization face deflects, and deflection angle indicates are as follows:
Wherein, l is detection light in the indoor light path of gas, and n is specific refractivity, reFor classical electron radius, c is vacuum light
Speed, fD1For intensity factor constant, F-F' indicates to be jumped in alkali metal atom D1 line transition from ground state level F to excited level F '
It moves, AF-F'For the strength factor of corresponding F-F' transition, L is Lorentzian.
Wherein, υ is pumping light frequency, and Γ is pressure broadening constant, Lorentzian:
Detection light deflection angle is converted into the processing of electric signal entering signal and control system by differential type photodetector,
Two kinds of isotope atom nuclear spin precession signals can be extracted by signal demodulation filtering.In magnetic resonance state, two kinds same
The Larmor frequency of the plain nuclear spin precession in position are as follows:
ω1=B0γ1+δ1S+ωr；
ω2=B0γ2+δ2S+ωr+Q；
In formula:
Wherein, S is component of the alkali metal electron spin in z-axis direction, κ1、κ2Respectively two kinds of hyperfine effects of nucleic
The magnetic field-enhanced factor is considered as constant, gs=2, μBFor Bohr magneton, [A] is alkali metal atom number density, and Q is electric generation
Larmor precession frequency component.
The Larmor precession frequency of two kinds of isotopes is poor are as follows:
Δ ω=ω1-ω2=(γ1-γ2)B0+(δ1-δ2)S-Q；
In order to realize the stabilization of gyro main field, by the way that electric current in z-axis line circle is reversely realized main field B0Direction it is anti-
To, at this point, in addition to the Larmor frequency component that is generated by main field reversely other than, Larmor caused by alkali metal field and electric
Frequency component can be considered constant, the Larmor frequency of two kinds of isotope atom nuclear spin precession are as follows:
ω1 -=-B0γ1+δ1S-ωr；
ω2 -=-B0γ2+δ2S-ωr-Q；
At this point, the Larmor precession frequency of two kinds of isotopes is poor are as follows:
Δω-=ω1 --ω2 -=-(γ1-γ2)B0+(δ1-δ2)S-Q；
Δω-Δω-=2 (γ1-γ2)B0；
Therefore, frequency drift caused by alkali metal magnetic field and electric is eliminated, closed-loop control Δ ω-Δ ω is passed through-Surely
It is fixed, it can be achieved with B0Stabilization.
In addition, main field B0After reversed, ωrThe pole reversal, the caused drift in alkali metal field remain unchanged.If by two tables
The main field direction of head successively successively inverts, and the state machine of reversion is as shown in figure 3, then gauge outfit A, B in each prover time section Ti
Measurement export ωmIt may be expressed as:
ωmA(1)=ωr(1)+biasA；
ωmA(2)=- ωr(2)+biasA；
ωmB(1)=ωr(1)+biasB；
ωmB(2)=ωr(2)+biasB；
It solves:
As it can be seen that successively changing B by two gauge outfits0Direction, respective zero bias and right can be solved by simultaneous equations
The angular speed answered, and zero bias can be eliminated in the dynamic case, realize the continuous output of gyro.
In order to make full use of the data in reversed previous prover time section, the measurement of gauge outfit A, B exports ωmIt may be expressed as:
Wherein, each prover time section Ti=T=m τ0, p represents current time in p-th of prover time section, and 1≤k≤
M, ωr[p*m+k] is the angular speed observation at current time.Vector sum matrix successively indicates that then above formula is indicated with letter are as follows:
Ωm=H*v
H is sequency spectrum.
The then least square solution of above-mentioned equation group existence anduniquess:
The stability contorting attached drawing 3 of main field.The signal of one gauge outfit by corresponding photodetector entering signal handle with
Control system carries out demodulation and obtains the nuclear spin of double-core element in y to component Ky, then by KyExtract the Larmor precession frequency of double-core element
ω1、ω2, according to B0Current direction calculating double-core element forward and reverse Larmor frequency difference Δ ω, Δ ω-, calculate Δ ω-Δ
ω-, with reference value Δ ω '-Δ ω-' compare, the compensation rate of main field is calculated by closed loop controller, to realize main field
Stablize, while avoiding the influence of alkali metal magnetic field and electric drift to main field stability.
The zero bias self calibration of gyro gauge outfit is as shown in Fig. 4, controls self-alignment B by self-correcting collimator controller0It is forward and reverse
Periodic sequence.A cycle sequence includes tetra- self calibration periods of T1, T2, T3, T4, and each period is equal, according to zero bias
Variation speed and arithmetic speed, rationally be arranged the period length.Angular speed is controlled by system clock within each period
Original signal ωmA、ωmBAcquisition, the signal of acquisition is stored in Computer Cache.Zero bias observer is according to current self calibration
The data of period and previous self calibration period pick out the angular speed output ω for eliminating zero biasr-out, zero bias biasA and
biasB.There are B between two adjacent periods0Reversed establishes the phase, and data around here are not involved in identification, and utilization is not anti-
To gauge outfit data subtract the zero bias estimated value of upper prover time section and obtain ωr-out。
The utility model is successively changed using two gauge outfits arranged in the same direction, the main field direction of two gauge outfits, benefit
Two respective zero offset errors of gauge outfit can be picked out with the measurement data of former and later two reversed gauge outfits of main field, realize that gyro exists
It is continuously exported under dynamic condition.Moreover, inverting former and later two gauge outfits by calculating during realizing main field closed-loop stabilization
The difference of the corresponding Larmor frequency difference of respective dual-isotope can be with precise and stable main field, without by alkali metal magnetic field and electric quadrupole
The influence that square drifts about to main field closed-loop control precision.
The limitation that the technical solution of the utility model is not limited to the above specific embodiments, all skills according to the present utility model
The technology deformation that art scheme is made, each falls within the protection scope of the utility model.
Claims (5)
1. a kind of zero bias self calibration atomic gyroscope characterized by comprising
At least two sensors；
Signal processing and control system are calculated for field compensation and are adjusted with Larmor precession frequency；The signal processing and control
System processed is provided with zero bias observer, calculates for zero offset error；
Magnetic field drivers are adjusted for sensor magnetic field；
The sensor, signal processing and control system, magnetic field drivers are sequentially connected；
The sensor includes:
Atomic air chamber and magnetic field and magnetic screen portion, for providing work atom and uniform and stable magnetic field environment；
Optical path is pumped, atomic state is used to prepare；
Optical path is detected, Measurement atom Larmor precession is used for.
2. a kind of zero bias self calibration atomic gyroscope according to claim 1, which is characterized in that the atomic air chamber and magnetic field
It include the atomic air chamber being arranged from inside to outside, without magnetic heating sheet, coil and magnetic screen shell with magnetic screen portion.
3. a kind of zero bias self calibration atomic gyroscope according to claim 1, which is characterized in that the pumping optical path include according to
Pump laser, beam-expanding collimation mirror A and the wave plate of secondary setting.
4. a kind of zero bias self calibration atomic gyroscope according to claim 1, which is characterized in that the detection optical path include according to
Detecting laser, the beam-expanding collimation mirror B, polariscope of secondary setting.
5. a kind of zero bias self calibration atomic gyroscope according to claim 1, which is characterized in that deposited inside the atomic air chamber
It contains alkali metal, gas be quenched and two kinds of isotope atom gases.
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| CN110068320A (en) * | 2019-05-05 | 2019-07-30 | 中国工程物理研究院总体工程研究所 | A kind of zero bias self calibration atomic gyroscope |
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| CN110068320A (en) * | 2019-05-05 | 2019-07-30 | 中国工程物理研究院总体工程研究所 | A kind of zero bias self calibration atomic gyroscope |
| CN110068320B (en) * | 2019-05-05 | 2024-02-06 | 中国工程物理研究院总体工程研究所 | Zero-bias self-calibration atomic gyroscope |
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