RESUMEN
A novel method to control the light intensity stability and modulate the probe light polarization using a liquid crystal variable retarder (LCVR) to detect atomic spin precession simultaneously in a K-Rb-21Ne gyroscope is reported. A sinusoidal driving voltage is applied to drive the LCVR and is skillfully used to produce a high-frequency modulation for the probe light. The modulation helps to avoid electronic detection noise appearing at low frequencies and allows for phase-sensitive detection. The coefficient of rate ramp can be reduced from 1.31 (deg/h)/h to 0.05 (deg/h)/h (Allan deviation), and the bias instability of about 0.08 deg/h at the averaging time of 200 s is achieved. Therefore, the long-term stability of the angular velocity measurement can be improved and other optical modulators can be replaced to facilitate the miniaturization of the gyroscope by using this intensity modulation detection method. This optical rotation detection method also can be applied to other miniaturized atomic sensors, such as atomic magnetometers.
RESUMEN
Benefiting from frame structure, RINS can improve the navigation accuracy by modulating the inertial sensor errors with proper rotation scheme. In the traditional motor control method, the measurements of the photoelectric encoder are always adopted to drive inertial measurement unit (IMU) to rotate. However, when carrier conducts heading motion, the inertial sensor errors may no longer be zero-mean in navigation coordinate. Meanwhile, some high-speed carriers like aircraft need to roll a certain angle to balance the centrifugal force during the heading motion, which may result in non-negligible coupling errors, caused by the FOG installation errors and scale factor errors. Moreover, the error parameters of FOG are susceptible to the temperature and magnetic field, and the pre-calibration is a time-consuming process which is difficult to completely suppress the FOG-related errors. In this paper, an improved motor control method with the measurements of FOG is proposed to address these problems, with which the outer frame can insulate the carrier's roll motion and the inner frame can simultaneously achieve the rotary modulation on the basis of insulating the heading motion. The results of turntable experiments indicate that the navigation performance of dual-axis RINS has been significantly improved over the traditional method, which could still be maintained even with large FOG installation errors and scale factor errors, proving that the proposed method can relax the requirements for the accuracy of FOG-related errors.
RESUMEN
Getting a land vehicle's accurate position, azimuth and attitude rapidly is significant for vehicle based weapons' combat effectiveness. In this paper, a new approach to acquire vehicle's accurate position and orientation is proposed. It uses biaxial optical detection platform (BODP) to aim at and lock in no less than three pre-set cooperative targets, whose accurate positions are measured beforehand. Then, it calculates the vehicle's accurate position, azimuth and attitudes by the rough position and orientation provided by vehicle based navigation systems and no less than three couples of azimuth and pitch angles measured by BODP. The proposed approach does not depend on Global Navigation Satellite System (GNSS), thus it is autonomous and difficult to interfere. Meanwhile, it only needs a rough position and orientation as algorithm's iterative initial value, consequently, it does not have high performance requirement for Inertial Navigation System (INS), odometer and other vehicle based navigation systems, even in high precise applications. This paper described the system's working procedure, presented theoretical deviation of the algorithm, and then verified its effectiveness through simulation and vehicle experiments. The simulation and experimental results indicate that the proposed approach can achieve positioning and orientation accuracy of 0.2 m and 20â³ respectively in less than 3 min.