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The GRAVITY instrument has been commissioned on the VLTI during 2016 and is now available to the astronomical community. It is the first optical interferometer capable of observing sources as faint as magnitude 19 in K-band. This is possible thanks to the fringe tracker which compensates the differential piston based on measurements of a brighter off-axis astronomical reference source. The goal of this paper is to consign the main developments made in the context of the GRAVITY fringe tracker. This could serve as basis for future fringe tracking systems. The paper therefore covers all aspects of the fringe tracker, from hardware, to control software and on-sky observations. Special emphasis is placed on the interaction between the group delay controller and the phase delay controller. The group delay control loop is a simple but robust integrator. The phase delay controller is a state-space control loop based on an auto-regressive representation of the atmospheric and vibrational perturbations. A Kalman filter provides optimal determination of the state of the system. The fringe tracker shows good tracking performance on sources with coherent K magnitudes of 11 on the UTs and 9.5 on the ATs. It can track fringes with an SNR level of 1.5 per DIT, limited by photon and background noises. On the ATs, during good seeing conditions, the optical path delay residuals can be as low as 75 nm root mean square. On the UTs, the performance is limited to around 250 nm because of structural vibrations.
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After the first year of observations with the GRAVITY fringe tracker, we compute correlations between the optical path residuals and atmospheric and astronomical parameters. The median residuals of the optical path residuals are 180 nm on the ATs and 270 nm on the UTs. The residuals are uncorrelated with the target magnitudes for Kmag below 5.5 on ATs (9 on UTs). The correlation with the coherence time is however extremely clear, with a drop-off in fringe tracking performance below 3 ms.
In a few years, the second generation instruments of the Very Large Telescope Interferometer (VLTI) will routinely provide observations with 4 to 6 telescopes simultaneously. To reach their ultimate performance, they will need a fringe sensor capable to measure in real time the randomly varying optical paths differences. A collaboration between LAOG (PI institute), IAGL, OCA and GIPSA-Lab has proposed the Planar Optics Phase Sensor concept to ESO for the 2nd Generation Fringe Tracker. This concept is based on the integrated optics technologies, enabling the conception of extremely compact interferometric instruments naturally providing single-mode spatial filtering. It allows operations with 4 and 6 telescopes by measuring the fringes position thanks to a spectrally dispersed ABCD method. We present here the main analysis which led to the current concept as well as the expected on-sky performance and the proposed design.
The fringe sensor unit (FSU) is the central element of the phase referenced imaging and micro-arcsecond astrometry (PRIMA) dual-feed facility for the Very Large Telescope interferometer (VLTI). It has been installed at the Paranal observatory in August 2008 and is undergoing commissioning and preparation for science operation. Commissioning observations began shortly after installation and first results include the demonstration of spatially encoded fringe sensing and the increase in VLTI limiting magnitude for fringe tracking. However, difficulties have been encountered because the FSU does not incorporate real-time photometric correction and its fringe encoding depends on polarisation. These factors affect the control signals, especially their linearity, and can disturb the tracking control loop. To account for this, additional calibration and characterisation efforts are required. We outline the instrument concept and give an overview of the commissioning results obtained so far. We describe the effects of photometric variations and beam-train polarisation on the instrument operation and propose possible solutions. Finally, we update on the current status in view of the start of astrometric science operation with PRIMA.
The implementation of fringe tracking for optical interferometers is inevitable when optimal exploitation of the instrumental capacities is desired. Fringe tracking allows continuous fringe observation, considerably increasing the sensitivity of the interferometric system. In addition to the correction of atmospheric path-length differences, a decent control algorithm should correct for disturbances introduced by instrumental vibrations, and deal with other errors propagating in the optical trains. We attempt to construct control schemes based on Kalman filters. Kalman filtering is an optimal data processing algorithm for tracking and correcting a system on which observations are performed. As a direct application, control schemes are designed for GRAVITY, a future four-telescope near-infrared beam combiner for the Very Large Telescope Interferometer (VLTI). We base our study on recent work in adaptive-optics control. The technique is to describe perturbations of fringe phases in terms of an a priori model. The model allows us to optimize the tracking of fringes, in that it is adapted to the prevailing perturbations. Since the model is of a parametric nature, a parameter identification needs to be included. Different possibilities exist to generalize to the four-telescope fringe tracking that is useful for GRAVITY. On the basis of a two-telescope Kalman-filtering control algorithm, a set of two properly working control algorithms for four-telescope fringe tracking is constructed. The control schemes are designed to take into account flux problems and low-signal baselines. First simulations of the fringe-tracking process indicate that the defined schemes meet the requirements for GRAVITY and allow us to distinguish in performance. In a future paper, we will compare the performances of classical fringe tracking to our Kalman-filter control.
The Fringe Sensor Unit (FSU) is the central element of the Phase Referenced Imaging and Micro-arcsecond Astrometry (PRIMA) dual-feed facility and provides fringe sensing for all observation modes, comprising off-axis fringe tracking, phase referenced imaging, and high-accuracy narrow-angle astrometry. It is installed at the Very Large Telescope Interferometer (VLTI) and successfully servoed the fringe tracking loop during the initial commissioning phase. Unique among interferometric beam combiners, the FSU uses spatial phase modulation in bulk optics to retrieve real-time estimates of fringe phase after spatial filtering. A R=20 spectrometer across the K-band makes the retrieval of the group delay signal possible. The FSU was integrated and aligned at the VLTI in summer 2008. It yields phase and group delay measurements at sampling rates up to 2 kHz, which are used to drive the fringe tracking control loop. During the first commissioning runs, the FSU was used to track the fringes of stars with K-band magnitudes as faint as m_K=9.0, using two VLTI Auxiliary Telescopes (AT) and baselines of up to 96 m. Fringe tracking using two Very Large Telescope (VLT) Unit Telescopes (UT) was demonstrated. During initial commissioning and combining stellar light with two ATs, the FSU showed its ability to improve the VLTI sensitivity in K-band by more than one magnitude towards fainter objects, which is of fundamental importance to achieve the scientific objectives of PRIMA.
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