CN112833879B - Six-axis inertia measuring device based on cold atom interference technology - Google Patents
Six-axis inertia measuring device based on cold atom interference technology Download PDFInfo
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Abstract
The invention relates to a six-axis inertia measurement device based on cold atom interference technology, which is technically characterized in that: the device comprises a pair of vacuum chambers, 6 pairs of positive cooling light and negative cooling light, 3 groups of orthogonal pi/2-pi/2 Raman pulses, 3 pairs of correlation interference circuits, 1 three-dimensional common interference chamber, 3 pairs of orthogonal interference chambers and 3 pairs of different cold radicals, wherein the vacuum chambers are respectively arranged in the x, y and z orthogonal directions. Three pairs of cold atom interferometers are constructed by constructing three-dimensional mutually orthogonal vacuum cavity structures, utilizing three different alkali metal atoms as sensitive media, adopting corresponding laser and magnetic fields to cool and control the atoms. By carrying out differential processing on the output of the cold atom interferometer, the acceleration and rotation information of the carrier in three directions can be respectively extracted. Because different atoms are adopted and the middle interference area is shared, real-time high-precision six-axis parameter measurement can be realized.
Description
Technical Field
The invention belongs to the technical field of cold atom interference precision measurement, and relates to a cold atom interference inertia measurement device and method which are formed by utilizing three different alkali metal atoms and simultaneously realizing three-axis rotation and three-axis acceleration measurement, in particular to a six-axis inertia measurement device based on a cold atom interference technology.
Background
The gyroscope and the accelerometer based on the cold atom interference technology have the remarkable advantages of ultrahigh precision, independence on GPS, no long-term drift and the like, and are concerned and supported by various research institutions at home and abroad. A cold atom interference gyroscope principle prototype with the best performance under the laboratory condition is developed by a time-space reference laboratory belonging to the Paris astronomical table of France, the zero-bias stability of the prototype is 6 multiplied by 10 < -5 >/h under the condition that the interference area is 5 orders of magnitude smaller, the zero-bias stability can be compared with the interference optical fiber gyroscope with the best performance at present, and the ultrahigh precision measurement potential of the cold atom interference sensor is shown. The French micro quantum company and the American atomic optical sensor company develop commercial cold atom absolute gravitometer products, the precision can reach the mu Gal magnitude, the absolute gravitometer is the absolute gravitometer with the best performance at present, the absolute gravitometer is already deployed in the fields of field measurement, seismic monitoring and the like, and the research greatly promotes the application of the cold atom interference technology in the fields of inertial navigation, resource exploration, basic physical research and the like.
In inertial navigation systems, it is usually necessary to acquire angular velocity and acceleration information of a moving carrier at the same time for attitude control and positioning, which requires three gyroscopes and three accelerometers to make precise measurements in three orthogonal dimensions at the same time. For conventional inertial navigation systems, three gyroscopes and three accelerometers are typically required to achieve this. However, due to the limitation of the mechanism of the conventional inertial navigation system, the measurement error is gradually increased along with the accumulation of time, and the navigation and positioning accuracy is reduced. Therefore, it is necessary to construct an inertial measurement unit capable of operating with high precision for a long time and acquiring multiple parameters at the same time.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a six-axis inertia measuring device based on a cold atom interference technology, which can realize real-time high-precision six-axis parameter measurement.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a six-axis inertia measurement device based on cold atom interference technology comprises a pair of vacuum chambers, 6 pairs of positive cooling light and negative cooling light, 3 groups of orthogonal pi/2-pi/2 Raman pulses, 1 three-dimensional common interference chamber, 3 pairs of orthogonal interference chambers and 3 pairs of different cold atomic groups, wherein the vacuum chambers are respectively arranged in x, y and z orthogonal directions; the vacuum chambers are used for providing an ultrahigh vacuum environment and providing proper background atoms for the generation of cold atomic groups or cold atomic beams, wherein the vacuum chambers in three directions use three different atoms as sensitive media; the positive cooling light and the negative cooling light are used for providing the casting speed required by the movement of atoms, and a specific frequency difference is formed between the positive cooling light and the negative cooling light; the first pi/2 Raman pulse in the pi/2-pi/2 Raman pulses is similar to a beam splitter and is used for dividing atoms in a ground state into superposition of the ground state and an excited state; the pi Raman pulse in the pi/2-pi/2 Raman pulse is similar to a reflector, and two energy states of atoms are exchanged with each other; the last pi/2 pulse in the pi/2-pi/2 Raman pulses is similar to a beam combiner and is used for extracting the phase difference between atoms which experience different interference paths; wherein the time widths of the pi/2 Raman pulse and the pi Raman pulse are inversely related to the Raman optical power.
Moreover, a pair of vacuum cavities is adopted in the three orthogonal directions of x, y and z, and circular windows are respectively arranged on four side surfaces; the window along each axial direction is used as a pi Raman pulse light through hole along the other orthogonal direction, and three pairs of positive and negative cooling lights of each vacuum cavity are configured as follows: one pair of the atomic emission beams is perpendicular to x, y and z axes, and the other two pairs of the atomic emission beams form included angles of +/-45 degrees with the outgoing direction of atoms.
And the three-dimensional common interference cavity is a tetrakaidecahedron, black vacuum paint is sprayed on the inner surface of the vacuum cavity, and the three orthogonal directions of x, y and z are connected with the left interference cavity, the right interference cavity, the front interference cavity, the rear interference cavity, the upper interference cavity and the lower interference cavity.
And rectangular windows are arranged on the side surfaces of the three pairs of orthogonal interference cavities, the orthogonal interference cavities and the three-dimensional shared interference cavity are processed and treated in an integrated manner, the three pairs of orthogonal interference cavities are connected with the three pairs of vacuum cavities through vacuum flanges, a section of conical metal pipe is used as a vacuum difference device in the middle of the three pairs of orthogonal interference cavities, and the vacuum cavity area and the interference cavity area are maintained in vacuum degrees by four independent vacuum pumps.
In addition, cold atom group preparation devices are arranged in the three pairs of vacuum cavities, and the background atom gas density can be changed by controlling the temperature or the current, so that the parameters of the quantity, the size and the temperature of the cold atom groups are adjusted.
The invention has the advantages and positive effects that:
1. the invention provides a six-axis inertia measuring device based on a cold atom interference technology, which can provide real-time and reliable navigation positioning service for a long-endurance high-precision inertial navigation system and meet diversified task requirements. Three pairs of cold atom interferometers are constructed by constructing three-dimensional mutually orthogonal vacuum cavity structures, utilizing three different alkali metal atoms as sensitive media, adopting corresponding laser and magnetic field for cooling and controlling the atoms. By carrying out differential processing on the output of the cold atom interferometer, the acceleration and rotation information of the carrier in three directions can be respectively extracted. Because different atoms are adopted and the middle interference area is shared, real-time high-precision six-axis parameter measurement can be realized.
2. The invention adopts various neutral atoms as sensitive media, utilizes corresponding laser to control, simultaneously realizes rotation and acceleration measurement in three orthogonal directions, and realizes six-axis inertia parameter measurement through a single device.
3. According to the invention, by selecting a specific magnetic field and a specific laser time sequence, cold atom group or cold atom beam current capture can be realized, so that three pairs of cold atom interferometers work in a pulse or continuous measurement mode, and the application requirements of various fields such as inertial navigation, basic physical research, resource exploration and the like with high performance, high dynamics, large bandwidth and the like are met.
Drawings
FIG. 1 is a schematic representation of the six axis inertial measurement unit of the present invention;
FIG. 2 is a schematic diagram of two-axis rotation and two-axis acceleration measurement based on cold atom interference technology of the present invention;
101A, 101B, and 102A
102B first negative cooling light 103A left radical (beam) 103B right radical (beam)
104A first positive pi/2 pulse 104B first negative pi/2 pulse 105A first positive pi pulse
105B first negative pi pulse 106A second positive pi/2106B second negative pi/2 pulse
107A left interference loop 107B right interference loop 102C first orthogonal cooling light
201A Upper vacuum Chamber 201B lower vacuum Chamber 202A second Positive Cooling light
202B second negative cooling light 203A upper radical (beam) 203B lower radical (beam)
204A third positive pi/2 pulse 204B, third negative pi/2 pulse 205A, second positive pi pulse
205B second negative pi pulses 206A fourth positive pi/2 pulses 206B fourth negative pi/2 pulses
Second orthogonal cooling light for interference loop 202C under interference loop 207B over 207A
301A the front vacuum chamber 301B the rear vacuum chamber 302A the third positive cooling light
302B third negative cooling light 303A front radical (beam) 303B back radical (beam)
305A third positive pi pulse 305B, a third negative pi pulse 303C, and a third orthogonal cooling light
304A fifth positive pi/2 pulse 304B a fifth negative pi/2 pulse 306A a sixth positive pi/2 pulse
306B sixth negative pi/2 pulse 307A front interference loop 307B rear interference loop
400 common interference cavity 401A left interference cavity 401B right interference cavity
Interference cavity before 402A upper interference cavity 402B lower interference cavity 403A
403B rear interference cavity
Detailed Description
The embodiments of the invention will be described in further detail below with reference to the accompanying drawings:
a six-axis inertia measurement device based on cold atom interference technology is disclosed as figure 1, and comprises a pair of vacuum chambers, 6 pairs of positive cooling light and negative cooling light, 3 groups of orthogonal pi/2-pi/2 Raman pulses, 1 three-dimensional common interference chamber, 3 pairs of orthogonal interference chambers and 3 pairs of different cold atomic groups, wherein the vacuum chambers are respectively arranged in x, y and z orthogonal directions; the vacuum chambers are used for providing an ultrahigh vacuum environment and providing proper background atoms for the generation of cold atomic groups or cold atomic beams, wherein the vacuum chambers in three directions use three different atoms as sensitive media; the positive cooling light and the negative cooling light are used for providing the casting speed required by the movement of atoms, and a specific frequency difference is formed between the positive cooling light and the negative cooling light; the first pi/2 Raman pulse in the pi/2-pi/2 Raman pulses is similar to a beam splitter and is used for dividing atoms in a ground state into a superposition of the ground state and an excited state; the pi Raman pulse in the pi/2-pi/2 Raman pulse is similar to a reflector, and two energy states of atoms are exchanged with each other; the last pi/2 pulse in the pi/2-pi/2 Raman pulses is similar to a beam combiner and is used for extracting the phase difference between atoms which experience different interference paths; wherein the time widths of the pi/2 Raman pulse and the pi Raman pulse are inversely related to the Raman optical power.
In the embodiment, a pair of vacuum chambers are respectively adopted in the three orthogonal directions of x, y and z, and circular windows are respectively formed on four side surfaces; the window along each axial direction is used as a pi Raman pulse light through hole along the other orthogonal direction, and three pairs of positive and negative cooling lights of each vacuum cavity are configured as follows: one pair of the atomic emission beams is perpendicular to x, y and z axes, and the other two pairs of the atomic emission beams form included angles of +/-45 degrees with the outgoing direction of atoms.
In this embodiment, the three-dimensional common interference cavity is a tetrakaidecahedron, black vacuum paint is sprayed on the inner surface of the vacuum cavity, and the three orthogonal directions x, y and z are connected with the left, right, front, rear, upper and lower interference cavities.
In this embodiment, rectangular windows are formed in the side surfaces of the three pairs of orthogonal interference cavities, the orthogonal interference cavities and the three-dimensional shared interference cavity are processed and processed in an integrated manner, the three pairs of orthogonal interference cavities are connected with the three pairs of vacuum cavities through vacuum flanges, in order to ensure the vacuum degree required by interference measurement, a section of conical metal pipe is used as a vacuum difference device in the middle of the three pairs of orthogonal interference cavities, and the vacuum degree in the vacuum cavity area and the interference cavity area are maintained by four independent vacuum pumps.
In this embodiment, in order to improve the atom trapping efficiency of each vacuum chamber, cold radical preparation devices are disposed in each of the three pairs of vacuum chambers, and the background atomic gas density can be changed by controlling the temperature or current, so as to adjust the parameters of the number, size, and temperature of cold radicals.
It should be noted that the cold atom interferometer on the x-axis measures the acceleration in the y-direction and the rotation in the z-direction; a cold atom interferometer in the y direction measures the acceleration in the z direction and the rotation in the x direction; the z-axis cold atom interferometer measures acceleration in the x-direction and rotation in the y-direction. Although the three orthogonal directions x, y, z are relative, they are strictly equivalent in terms of measurement function.
In the present embodiment, fig. 1 is a schematic diagram of a six-axis inertial measurement unit. A pair of vacuum chambers is adopted in the three orthogonal directions of x, y and z, and rectangular windows are respectively arranged on four side surfaces; the windows along each axial direction are circular windows and are used as pi pulse light-passing holes in the other orthogonal direction. The common interference cavity is a tetrakaidecahedron, and black vacuum paint is sprayed on the inner surface of the vacuum cavity.
The interference cavity and the shared interference cavity are processed and treated in an integrated manner. The interference cavity is connected with the vacuum cavity through a vacuum flange, a section of conical metal pipe is used as a vacuum difference device in the middle for ensuring the vacuum degree required by interference measurement, and the vacuum degree of the vacuum cavity area and the vacuum cavity area is maintained by four independent vacuum pumps. In order to improve the atom capture efficiency of each vacuum cavity, atom preparation devices are arranged in the three pairs of vacuum cavities, and the background atom gas density can be changed by controlling the temperature or the current. In this experiment, rubidium 87 atoms were used for the x-axis, rubidium 85 atoms for the y-axis, and cesium 133 atoms for the z-axis, but the measurements on the three axes were independent of the particular atomic species used.
In the x direction, a left (right) vacuum chamber 101A (101B) is present, and the two are connected by a left interference chamber 401A, a common interference chamber 400, and a right interference chamber 401B. The first positive (negative) cooling light 102A (102B) in the left vacuum chamber 101A is a collimated laser, and the two interact to generate a left (right) radical 103A (103B), wherein the velocity of the left (right) radical 103A (103B) along the + x (-x) axis is determined by the frequency difference between the first positive (negative) cooling light 102A and the negative cooling light 102A (102B). The movement direction of the right radical 103B is opposite to the movement direction of the left radical 103A. The first positive (negative) cooling light 102A (102B) makes an angle of 45 ° with the x-axis. The first positive (negative) pi/2 pulse 104A (104B) is located in the left interference cavity, the first positive (negative) pi pulse 105A (105B) enters the common interference cavity through the glass window of the upper (lower) vacuum cavity, and the second positive (negative) pi/2 pulse 106A (106B) is located in the right interference cavity.
The left radical 103A sequentially passes through the left interference cavity 401A to act with the first positive (negative) pi/2 pulse 104A (104B), the shared interference vacuum cavity 400 to act with the first positive (negative) pi pulse 105A (105B), and the right interference cavity 401B to act with the second positive (negative) pi/2 pulse 106A (106B) to form a left interference loop 107A. The right radical 103B in turn interacts with the second positive (negative) π/2 pulse 106A (106B) in the right interferometric cavity 401B, with the first positive (negative) π pulse 105A (105B) in the shared interferometric vacuum cavity 400, and with the first positive (negative) π/2 pulse 106A (106B) in the left interferometric cavity 401A, forming a right interferometric circuit 107B.
In the y-direction, the upper (lower) vacuum chamber 201A (201B) is present, and the upper interference chamber 402A, the common interference chamber 400, and the lower interference chamber 402B are connected to each other. The second positive (negative) cooling light 202A (202B) in the upper vacuum chamber 201A is a counter light, and the two cooperate to generate upper (lower) cooling radicals 203A (203B). Wherein the velocity of the upper (lower) radical 103A (103B) in the-y (+ y) axis direction is determined by the frequency difference of the second positive (negative) cooling light 202A (202B). The moving direction of the lower radical 203B is opposite to the moving direction of the upper radical 203A. The second positive (negative) cooling light 102A (102B) makes an angle of 45 ° with the y-axis. The third positive (negative) pi/2 pulse 204A (204B) is located in the upper interferometric cavity, the second positive (negative) pi pulse 205A (205B) enters the common interferometric cavity through the glass window of the front (rear) vacuum cavity, and the fourth positive (negative) pi/2 pulse 206A (206B) is located in the lower interferometric cavity.
The upper radical 203A, in turn, interacts with the third positive (negative) pi/2 pulse 204A (204B) in the upper interference chamber 402A, with the second positive (negative) pi pulse 205A (205B) in the common interference vacuum chamber 400, and with the fourth positive (negative) pi/2 pulse 206A (206B) in the lower interference chamber 402B to form the front interference loop 207A. The lower radical 203B in turn interacts with the fourth positive (negative) π/2 pulse 206A (206B) in the lower interference chamber 402B, with the third positive (negative) π pulse 205A (205B) in the common interference vacuum chamber 400, and with the third positive (negative) π/2 pulse 204A (204B) in the upper interference chamber 402A, forming a post-interference loop 207B.
In the z direction, a front (rear) vacuum chamber 301A (301B) is present, and the two are connected by a front interference chamber 403A, a common interference chamber 400, and a rear interference chamber 403B. The third positive (negative) cooling light 302A (302B) in the front vacuum chamber 301A is a coherent laser that works together to produce a front (back) radical 303A (303B), wherein the velocity of the front (back) radical 303A (303B) along the + z (-z) axis is determined by the frequency difference between the third positive (negative) cooling light 302A (302B). The movement direction of the rear radical 303B is opposite to the movement direction of the front radical 303A. The third positive (negative) cooling light 302A (302B) makes an angle of 45 ° with the z-axis. The fifth positive (negative) pi/2 pulse 304A (304B) is located in the front interference cavity, the third positive (negative) pi pulse 305A (305B) enters the common interference cavity through the glass window of the left (right) vacuum cavity, and the sixth positive (negative) pi/2 pulse 306A (306B) is located in the back interference cavity.
The front radical 303A sequentially reacts with the fifth positive (negative) pi/2 pulse 304A (304B) in the front interference chamber 403A, reacts with the third positive (negative) pi pulse 305A (305B) in the common interference vacuum chamber 400, and reacts with the sixth positive (negative) pi/2 pulse 306A (306B) in the rear interference chamber 403B to form the front interference circuit 107A. The back radicals 303B in turn interact with the sixth positive (negative) pi/2 pulse 306A (306B) in the back interference chamber 403B, the third positive (negative) pi pulse 305A (305B) in the common interference vacuum chamber 400, and the fifth positive (negative) pi/2 pulse 304A (304B) in the front interference chamber 403A to form the back interference circuit 107B.
It is particularly emphasized that the x-axis cold atom interferometer measures acceleration in the y-direction and rotation in the z-direction; a cold atom interferometer in the y direction measures the acceleration in the z direction and the rotation in the x direction; the z-axis cold atom interferometer measures acceleration in the x-direction and rotation in the y-direction. Although the three orthogonal directions x, y, z are relative, they are strictly equivalent in terms of measurement function.
Fig. 2 is a schematic diagram of two-axis rotation and two-axis acceleration measurement based on cold atom interference technology, and an embodiment of measuring rotation and acceleration is described by taking an x axis and a y axis as examples. In the x direction, the left radical 103A is obtaining an initial velocity v on the + x axis x And then flies to the right under the action of inertia. In the central area of the left interference cavity 401A, the left radical 103A is divided into two equal parts by the action of a first positive pi/2 pulse 104A and a first negative pi/2 pulse 104B which are opposite to each other along the y direction, wherein one part flies along the original path (solid line) and the other part flies along the diffraction path (dotted line); in the central region of the common interference chamber 400, the radicals are subjected to a first positive pi pulse 105A and a first negative pi pulse 105B, the internal energy states of the atomsExchange with external momentum, atoms flying in solid lines then flying in dashed lines, and vice versa; in the center of the right interferometric cavity 401B, a second positive π/2 pulse 106A and a second negative π/2 pulse 106B close the interference path 107A of the left radical. Similarly, right radical 103B is obtaining initial velocity-v x Then, the flight is left under inertia, and after three pairs of pulses 106A and 106B, 105A and 105B, and 104A and 104B are applied, an interference path 107B is formed. Thus, the output phase of the x-axis two-atom interferometer can be expressed as
Wherein
And
the phases of the left and right x-axis interferometers,
wave vector of y-axis pulse, v x Is the speed of movement of the atom along the x-axis, T is the interval of two pulses, Ω z Is the rotational angular velocity of the z-axis, a y Is the acceleration of the y-axis and,
the initial phase of the ith pulse on the y-axis. By performing difference processing on the output phases of the left interferometer and the right interferometer, the rotation of the z-axis and the acceleration of the y-axis can be respectively calculated as
Similarly, the output phases of the two cold atom interferometers on the y-axis are respectively
Wherein
And
the phases of the two interferometers are the y-axis respectively,
wave vector of the z-axis pulse, v y Is the speed of movement of the atom along the y-axis, T is the interval of two pulses, Ω x Rotational angular velocity of the x-axis, a z Is the acceleration of the z-axis and,
the initial phase of the ith pulse on the y-axis. By performing difference processing on the output phases of the upper interferometer and the lower interferometer, the rotation of the x-axis and the acceleration of the z-axis can be respectively calculated
Similarly, the output of the z-axis cold atom interferometer is
Wherein
And
the phases of the two interferometers are the z-axis respectively,
wave vector of x-axis pulse, v z Is the speed of movement of the atom along the z-axis, T is twoInterval of one pulse, Ω y Rotational angular velocity of the y-axis, a x Is the acceleration of the x-axis and,
the initial phase of the ith pulse on the x-axis. By performing differential processing on the output phases of the upper interferometer and the lower interferometer, the rotation of the y-axis and the acceleration of the x-axis can be respectively calculated as
Assuming an initial position of the moving carrier as
The position and the motion attitude after the lapse of time t become
Wherein the equation of motion of each inertia over time is as follows:
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 (2)
1. The utility model provides a six inertial measurement unit based on cold atom interference technique which characterized in that: the device comprises a pair of vacuum chambers, 6 pairs of positive cooling light and negative cooling light, 3 groups of orthogonal pi/2-pi/2 Raman pulses, 3 pairs of correlation interference loops, 1 three-dimensional common interference chamber, 3 pairs of orthogonal interference chambers and 3 pairs of different cold radicals, wherein the vacuum chambers are respectively arranged in the x, y and z orthogonal directions; the vacuum chambers are used for providing an ultrahigh vacuum environment and providing proper background atoms for the generation of cold atomic groups or cold atomic beams, wherein the vacuum chambers in three directions use three different atoms as sensitive media; the positive cooling light and the negative cooling light are used for providing the ejection speed required by the movement of atoms, and a specific frequency difference exists between the positive cooling light and the negative cooling light; the first pi/2 Raman pulse in the pi/2-pi/2 Raman pulses is similar to a beam splitter and is used for dividing atoms in a ground state into superposition of the ground state and an excited state; the pi Raman pulse in the pi/2-pi/2 Raman pulse is similar to a reflector, and two energy states of atoms are exchanged; the last pi/2 pulse in the pi/2-pi/2 Raman pulses is similar to a beam combiner and is used for extracting the phase difference between atoms which experience different interference paths; wherein the time widths of the pi/2 Raman pulse and the pi Raman pulse are inversely related to the Raman optical power;
a pair of vacuum chambers are respectively adopted in the three orthogonal directions of x, y and z, and circular windows are respectively arranged on four side surfaces; the windows along the axial directions are used as pi Raman pulse light transmission holes in the other orthogonal direction, and three pairs of positive and negative cooling light of each vacuum cavity are configured as follows: one pair of the atomic emission beams is vertical to the x, y and z axes, and the other two pairs of the atomic emission beams form included angles of +/-45 degrees with the atomic emission direction;
the side surfaces of the three pairs of interference cavities are provided with rectangular windows, the interference cavities and the three-dimensional shared interference cavity are integrally processed and treated, the three pairs of interference cavities are connected with the three pairs of vacuum cavities through vacuum flanges, a section of conical metal pipe is used as a vacuum difference device in the middle of the interference cavities, and the vacuum cavity area and the interference cavity area are maintained in vacuum degree by four independent vacuum pumps;
the three-dimensional common interference cavity is a tetrakaidecahedron, and the three orthogonal directions of x, y and z are connected with the left interference cavity, the right interference cavity, the front interference cavity, the rear interference cavity, the upper interference cavity and the lower interference cavity.
2. The six-axis inertial measurement unit based on cold atom interferometry as claimed in claim 1, wherein: atom preparation devices are arranged in the three pairs of vacuum cavities, and the background atom gas density can be changed by controlling the temperature or the current.
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| CN114166199B (en) * | 2021-10-29 | 2023-08-08 | 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） | Atomic interferometry gyroscope for synchronous measurement of triaxial rotation angular velocity |
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