CN110411433A - A kind of atomic spin gyroscope detection light power error suppressing method based on field compensation - Google Patents
A kind of atomic spin gyroscope detection light power error suppressing method based on field compensation Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/60—Electronic or nuclear magnetic resonance gyrometers
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/032—Measuring direction or magnitude of magnetic fields or magnetic flux using magneto-optic devices, e.g. Faraday or Cotton-Mouton effect
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Abstract
The present invention relates to a kind of atomic spin gyroscope detection light power error suppressing method based on field compensation.This method is the three-dimensional magnetic field compensation zero first by gyroscope working condition, recycles gyroscope to the sensitivity characteristic of its X direction magnetic field, changes the magnetic field bias value B for being applied to X-directionxThe output for obtaining keeping gyroscope total is biased to X direction magnetic field offset when zero, the operating point of gyro is adjusted to " gyro zero point " by " gyro compensation point ", output from Gyroscope is no longer sensitive to calibration factor fluctuation caused by detection optical power change at this time, to completely inhibit gyro angular rate measurement error caused by detection optical power fluctuation, the stability of gyro is improved.Meanwhile this method can not only make the de- dependence to detection light closed-loop control optical path and circuit of gyropendulum, reduce system complexity, conducive to the miniaturization of gyro, and can be used as a kind of atomic spin gyroscope closed loop policy.
Description
Technical field
The present invention relates to a kind of atomic spin gyroscope detection light power error suppressing method based on field compensation, belongs to
Atomic gyroscope field can be used for atom magnetometer field.
Background technique
Atomic spin based on no spin-exchange relaxation (Spin-Exchange Relaxation-Free, SERF) technology
Gyroscope has the characteristics that theoretical precision is high, small in size, at low cost, dynamic range is small, is suitable for future platform formula inertial navigation system.
Bias instaility is the important evaluation index of gyroscope, directly determines the precision of inertial navigation system.SERF atomic spin gyroscope is logical
The polarization that a branch of circular polarization pumping light realizes atom is crossed, the inspection of atomic spin precession signal is realized by a branch of linear polarization detection light
It surveys.When gyro work is at " gyro compensation point ", output biasing is not zero.At this point, due to gyro calibration factor and detection light
Power it is directly proportional, detection optical power change can cause gyro output pulsation.Therefore, optical power change is detected to zero in order to reduce
The influence of bias stability needs to carry out closed-loop control to detection optical power.
Under normal conditions, detect optical power closed-loop control be by with polarization spectroscope from main optical path by a certain percentage
It separating fraction light and enters feedback detector, the optical power signals equal proportion received is converted into voltage signal by detector, then
It feeds back in electronic control unit and is compared with setting value, electronic control unit is by adjusting the control being applied on actuator
Signal changes main optical path optical power.However, the splitting ratio of polarization splitting prism can be with temperature change, so as to cause feedback signal
It is unable to accurate characterization main optical path optical power.In addition, electronic component itself performance in feed circuit also can be with environment temperature
Variation, causes the inaccuracy of feedback signal.Problem above will lead to detection optical power under the tune using closed-loop control, still can
It is fluctuated with environmental changes such as temperature, so as to cause the variation of gyro calibration factor, the bias instaility of gyro is made to be deteriorated.
Summary of the invention
Problems solved by the invention is: overcome existing SERF atomic spin gyroscope detection optical power closed-loop control precision by
The shortcomings that variation of ambient temperature influences, provides a kind of detection light power error suppressing method based on field compensation, not only can be with
So that gyro is got rid of the dependence to detection light closed-loop control optical path and circuit, reduces system complexity, conducive to the miniaturization of gyro,
And it can be used as a kind of atomic spin gyroscope closed loop policy.
Technical solution of the invention are as follows:
A kind of atomic spin gyroscope detection light power error suppressing method based on field compensation, which is characterized in that first
The three-dimensional magnetic field of gyroscope working condition is first compensated into zero, recycles gyroscope to the sensitivity characteristic of its X direction magnetic field, changes
It is applied to the magnetic field bias value B of X-directionx, the output for obtaining keeping gyroscope total is biased to X field compensation value when zero, by gyro
Operating point " gyro zero point " is adjusted to by " gyro compensation point ", at this time output from Gyroscope to detection optical power change cause
Calibration factor fluctuation it is no longer sensitive, to inhibit gyro angular rate measurement error caused by detecting optical power fluctuation.
Its implementation comprises the following steps that
(1) gyroscope alkali metal gas chamber is heated to operating temperature, when laser by atom polarization to stable state when, using magnetic field
Cross modulating compensation method compensates magnetic field, and three-dimensional magnetic field is compensated and is zeroed, and gyro work at this time is at " gyro compensation point "；
(2) change the magnetic field bias B of X-directionx, test record is in different detection light set value of the power I0When gyro stable state
Offset signal Vout, obtain gyro steady state bias signal VoutWith detection light set value of the power I0Between linear relationship: Vout=
K0I0+b0, K0For proportionality coefficient；
(3) in different BxUnder biasing, repeat step (2), and calculate corresponding BxWhen Proportional coefficient K0；
(4) according to different BxCorresponding Proportional coefficient K under biasing0, obtain BxWith Proportional coefficient K0Between linear relationship: K0
=K1Bx+b1；
(5) it calculates so that K0=0 BxBias obtains the X field compensation value for making gyro work in " gyro zero point ", this
When gyro stable state output to detection optical power change it is no longer sensitive.
In step (1), the magnetic field cross modulating compensation method is to drive three-dimensional magnetic field coil real by signal generator
Existing；It is modulated first using the square wave field that Y-direction coil applies 0.5nT peak-to-peak value in the Y direction, changes Z-direction field coil
Driving voltage so that gyro to Y-direction modulation magnetic field stable state output difference be 0, that is, find Z-direction field compensation point；Secondly,
It keeps Z-direction compensation magnetic field constant, and is modulated with Z-direction field coil in the square wave field that Z-direction applies 0.5nT peak-to-peak value,
Change the driving voltage of Y direction magnetic field coil, so that gyro is 0 to the stable state output difference in Z-direction modulation magnetic field, finds Y-direction
Field compensation point；Finally apply bias magnetic field using Z-direction field coil on the basis of Z-direction compensation point, and is applied in Z-direction
Add the square wave field of 0.5nT peak-to-peak value to modulate, change the driving voltage of X direction magnetic field coil, so that gyro modulates magnetic to Z-direction
The stable state output difference of field is 0, finds X to field compensation point.
In step (2), using linear least square fitting method, different B are obtainedxUnder biasing, gyro exports VoutWith detection light
Power I0Linear relationship.
In step (4), using linear least square fitting method, it is fitted different BxIt biases and corresponding Proportional coefficient K0Between
Linear relationship.
The principle of the invention lies in: the stable state output of atomic gyroscope can indicate are as follows:
Vout=KVI0θ+Voffset
Wherein KVFor voltage conversion coefficient related with circuit, I0To detect optical power, θ is that detection light passes through alkali metal gas
Light swing angle after room, VoffsetFor circuit system bias voltage.Light swing angle can indicate are as follows:
Wherein, KθFor with detection the gentle room relating to parameters of light frequency constant,For alkali metal electronic polarizability, γeWith
γnThe respectively gyromagnetic ratio of electronics and nucleon,WithThe respectively transverse relaxation rate of electronics and nucleon, BnFor nucleon generation
Magnetic field, ΩyiIt is inputted for the angular speed of Y-direction, ΩyeFor except the outer earth rotation angular speed of the angular speed of Y-direction input is in the side Y
To projection, BxiIt is inputted for the magnetic field of X-direction, θrFor the residual light swing angle as caused by the optical paths component such as gas chamber, polarizing film.That
, gyro output signals can expand into
As can be seen that changing BxiBias, the value 0 in bracket, at this time under the conditions of static test, top can be made
Spiral shell exports VoutNo longer examined optical power I0Influence, i.e., the zero bias of gyro to detection optical power change it is no longer sensitive.Namely
It says, makes θ=0, i.e., when the bias magnetic field of X-direction
When, the proportionality coefficient of gyro output and detection light intensity is 0, and gyroscopic drift caused by light-intensity variation can be pressed down completely
System.When gyro is applied in the inertial navigation system based on space-stabilized platform, since platform tracks a certain inertial coodinate system, gyro
Sensitive angular speed be it is constant, institute is equally applicable in this way.Furthermore it is possible to by controlling X-direction magnetic field bias, by top
The operating point closed-loop control of spiral shell is in " gyro zero point ".
The advantages of the present invention over the prior art are that: the control precision of conventional detection optical power close-loop control scheme
It is influenced by variation of ambient temperature, and needs to rely on complicated optical path and circuit and realize.Method of the present invention is to utilize gyro
Sensibility of the instrument to its X direction magnetic field, the method biased with application X direction magnetic field, by the operating point of gyro by " gyro compensates
Point " is adjusted to " gyro zero point ", and the total output of gyro at this time is biased to zero, and gyro output signals cause detection optical power change
Calibration factor fluctuation it is no longer sensitive, to completely inhibit gyro angular rate measurement error caused by detection optical power fluctuation, mention
The stability of high gyro.Meanwhile this method can not only make the de- dependence to detection light closed-loop control optical path and circuit of gyropendulum,
System complexity is reduced, conducive to the miniaturization of gyro, and can be used as a kind of atomic spin gyroscope closed loop policy.
Detailed description of the invention
Fig. 1 is that the atomic spin gyroscope of the invention based on field compensation detects optical power suppressing method flow chart；
Fig. 2 is that the atomic spin gyroscope detection optical power suppressing method experimental system in the present invention based on field compensation is shown
It is intended to.
Specific embodiment
A kind of atomic spin gyroscope detection light power error suppressing method based on field compensation, first by gyroscope work
The three-dimensional magnetic field compensation zero for making state, recycles gyroscope to the sensitivity characteristic of its X direction magnetic field, change is applied to X-direction
Magnetic field bias value Bx, the output for obtaining making gyroscope total is biased to X field compensation value when zero, by the operating point of gyro by
" gyro compensation point " is adjusted to " gyro zero point ", and output from Gyroscope is to calibration factor caused by detection optical power change at this time
Fluctuation is no longer sensitive, to inhibit gyro angular rate measurement error caused by detecting optical power fluctuation.
As shown in Figure 1, detecting optical power suppressing method stream for the atomic spin gyroscope of the invention based on field compensation
Cheng Tu.
Specifically include following implementation steps:
(1) gyroscope alkali metal gas chamber is heated to operating temperature, with the Light polarizing alkali metal electronics of a branch of circular polarization pumping,
Alkali metal electronics by spin-exchange polarized noble gas nucleon, when laser by atom polarization to stable state when, intersected using magnetic field
Modulation compensated method compensates magnetic field, makes gyro work at " gyro compensation point ".
Fig. 2 is experimental system schematic diagram of the invention.
Alkali metal gas chamber 25 is installed on shielding cylinder 24 and three-dimensional magnetic field coil inside, and three-dimensional magnetic field coil is by X direction magnetic field
Coil 10, Y direction magnetic field coil 9 and Z-direction field coil 11 are constituted；The light that pumping laser 26 exports passes through by linear polarizer
27, steady power actuators 28,1/2 slide 29, polarization splitting prism 19, photodetector 18 and electronic control unit 17 form
Power stablizing system realizes power closed-loop control.Spot diameter etc. is converted to by the slide of extender lens group 20 and 1/4 21 later
In the circularly polarized light of gas chamber diameter.Driving voltage in the coil of three-dimensional magnetic field is controlled by signal generator 8.Laser 1 is detected to export
Light pass through by linear polarizer 2, steady power actuators 3,1/2 slide 4, polarization splitting prism 5, photodetector 23 and electronics control
The power stablizing system that unit 22 processed forms realizes power closed-loop control and power setting.Pass through reflecting mirror 7 and polarizing film later
Linearly polarized light is converted to after 6 by alkali metal gas chamber 25, passes through the slide of reflecting mirror 12 and 1/2 13 respectively later, using wet drawing
Light is divided into two bundles after stone prism 14 by differential detector 15, differential detector outputs signal to data logger 16.
Magnetic field cross modulating compensation is to drive three-dimensional magnetic field coil to realize by signal generator 8.Y-direction is used first
Coil 9 applies the square wave field modulation of 0.5nT peak-to-peak value in the Y direction, changes the driving voltage of Z-direction field coil 11, so that
Gyro is 0 to the stable state output difference in Y-direction modulation magnetic field, that is, finds Z-direction field compensation point；Secondly, Z-direction is kept to compensate magnetic
Field is constant, and is modulated with Z-direction field coil 11 in the square wave field that Z-direction applies 0.5nT peak-to-peak value, changes Y direction magnetic field
The driving voltage of coil 9 finds Y-direction field compensation point so that gyro is 0 to the stable state output difference in Z-direction modulation magnetic field；Most
Apply bias magnetic field using Z-direction field coil 11 on the basis of Z-direction compensation point afterwards, and applies the peak 0.5nT peak in Z-direction
The square wave field of value is modulated, and the driving voltage of X direction magnetic field coil 10 is changed, so that stable state of the gyro to Z-direction modulation magnetic field
Exporting difference is 0, finds X to field compensation point, gyro work at this time is at " gyro compensation point ".
(2) when gyro work at " gyro compensation point ", change the magnetic field bias B of X-directionx, pass through data logger 16
Test record is in different detection light set value of the power I0When gyro steady state bias signal Vout；Then linear least-squares are used
Fitting process obtains gyro steady state bias signal VoutWith detection light set value of the power I0Between linear relationship: Vout=K0I0+b0,
Record Proportional coefficient K0；
(3) in different BxUnder biasing, repeat step (2), and calculate corresponding BxWhen Proportional coefficient K0；In X to field compensation
On the basis of point, change the offset driving voltage of X direction magnetic field coil 10, under each bias voltage, is remembered with data logger 16
Detection light set value of the power and gyro stable state output signal are recorded, and with linear least square fitting gyro signal and detects optical power
Proportionality coefficient between setting value.
(4) according to different BxThe corresponding Proportional coefficient K obtained under biasing0, using linear least square fitting method, obtain
BxWith Proportional coefficient K0Between linear relationship: K0=K1Bx+b1；
(5) it calculates so that K0=0 BxBias obtains the X field compensation value for making gyro work in " gyro zero point ", this
When gyro stable state output to detection optical power change it is no longer sensitive.
It is calculated with the linear relationship that fitting obtains in (4) so that K0=0 X-direction bias magnetic field value, when X direction magnetic field value
When being set in this, gyro output is no longer sensitive to detection optical power change.
The content that description in the present invention is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (5)
1. a kind of atomic spin gyroscope detection light power error suppressing method based on field compensation, which is characterized in that first
The three-dimensional magnetic field of gyroscope working condition is compensated into zero, recycles gyroscope to the sensitivity characteristic of its X direction magnetic field, change is applied
It is added on the magnetic field bias value B of X-directionx, the output for obtaining keeping gyroscope total is biased to X direction magnetic field offset when zero, by top
The operating point of spiral shell is adjusted to " gyro zero point " by " gyro compensation point ", and output from Gyroscope draws detection optical power change at this time
The calibration factor fluctuation risen is no longer sensitive, to inhibit gyro angular rate measurement error caused by detecting optical power fluctuation.
2. the described method comprises the following steps:
(1) gyroscope alkali metal gas chamber is heated to operating temperature, when laser by atom polarization to stable state when, intersected using magnetic field
Modulation compensated method compensates magnetic field, and three-dimensional magnetic field is compensated and is zeroed, and gyro work at this time is at " gyro compensation point "；
(2) change the magnetic field bias B of X-directionx, test record is in different detection light set value of the power I0When gyro steady state bias
Signal Vout, obtain gyro steady state bias signal VoutWith detection light set value of the power I0Between linear relationship: Vout=K0I0+
b0, K0For proportionality coefficient；
(3) in different BxUnder biasing, repeat step (2), and calculate corresponding BxWhen Proportional coefficient K0；
(4) according to different BxCorresponding Proportional coefficient K under biasing0, obtain BxWith Proportional coefficient K0Between linear relationship: K0=
K1Bx+b1；
(5) it calculates so that K0=0 BxBias obtains making gyro work in the X field compensation value of " gyro zero point ", at this time top
The output of spiral shell stable state is no longer sensitive to detection optical power change.
3. the atomic spin gyroscope detection light power error suppressing method according to claim 2 based on field compensation,
It is characterized by: the magnetic field cross modulating compensation method is to drive three-dimensional magnetic field by signal generator in the step (1)
What coil was realized；It is modulated first using the square wave field that Y-direction coil applies 0.5nT peak-to-peak value in the Y direction, changes Z-direction magnetic
The driving voltage of field coil finds Z-direction field compensation so that gyro is 0 to the stable state output difference in Y-direction modulation magnetic field
Point；Secondly, keeping Z-direction compensation magnetic field constant, and apply the square wave magnetic of 0.5nT peak-to-peak value in Z-direction with Z-direction field coil
Field modulation, changes the driving voltage of Y direction magnetic field coil, so that gyro is 0 to the stable state output difference in Z-direction modulation magnetic field,
Find Y-direction field compensation point；Finally using Z-direction field coil application bias magnetic field on the basis of Z-direction compensation point, and
Z-direction applies the square wave field modulation of 0.5nT peak-to-peak value, changes the driving voltage of X direction magnetic field coil, so that gyro is to the side Z
It is 0 to the stable state output difference in modulation magnetic field, finds X to field compensation point.
4. the atomic spin gyroscope detection light power error suppressing method according to claim 2 based on field compensation,
It is characterized by: using linear least square fitting method, obtaining different B in the step (2)xUnder biasing, gyro exports Vout
With detection optical power I0Linear relationship.
5. the atomic spin gyroscope detection light power error suppressing method according to claim 2 based on field compensation,
It is characterized by: using linear least square fitting method, being fitted different B in the step (4)xIt biases and corresponding ratio system
Number K0Between linear relationship.
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| CN112729298A (en) * | 2020-12-24 | 2021-04-30 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Multi-gyroscope atomic group position synchronous control method |
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| CN113432589A (en) * | 2021-06-02 | 2021-09-24 | 北京航空航天大学 | Light power stability control device and method based on double-depolarization beam splitter prism |
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| CN113739821A (en) * | 2021-08-31 | 2021-12-03 | 北京航空航天大学 | Full-automatic magnetic compensation method of atomic spin gyroscope based on PID algorithm |
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| CN111856344B (en) * | 2020-07-16 | 2022-04-22 | 北京航空航天大学 | Method for inhibiting atomic spin inertia or magnetic field measurement error caused by temperature fluctuation |
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| CN113280801A (en) * | 2021-02-07 | 2021-08-20 | 北京航空航天大学 | Optical frequency shift suppression method based on mixed pumping SERF atomic spin inertial measurement system |
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| CN113532429B (en) * | 2021-06-30 | 2023-08-29 | 北京航空航天大学 | Air chamber temperature fluctuation error suppression method of atomic gyroscope |
| CN113532429A (en) * | 2021-06-30 | 2021-10-22 | 北京航空航天大学 | Air chamber temperature fluctuation error suppression method of atomic gyroscope |
| CN113739821A (en) * | 2021-08-31 | 2021-12-03 | 北京航空航天大学 | Full-automatic magnetic compensation method of atomic spin gyroscope based on PID algorithm |
| CN113739821B (en) * | 2021-08-31 | 2022-06-17 | 北京航空航天大学 | Full-automatic magnetic compensation method of atomic spin gyroscope based on PID algorithm |
| CN114459454A (en) * | 2022-02-25 | 2022-05-10 | 北京航空航天大学 | LCVR-based SERF atomic spin gyro detection light intensity error suppression method |
| CN114459454B (en) * | 2022-02-25 | 2023-11-03 | 北京航空航天大学 | LCVR-based SERF atomic spin gyro detection light intensity error suppression method |
| CN115265512A (en) * | 2022-07-28 | 2022-11-01 | 北京航空航天大学 | Rotation modulation method for SERF (spin exchange fiber) atomic spin gyroscope |
| CN115265512B (en) * | 2022-07-28 | 2024-04-09 | 北京航空航天大学 | Rotation modulation method for SERF atomic spin gyroscope |
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