Shipborne Experimental Demonstration of an Atomic Spin Comagnetometer for Dual-Axis Rotation Sensing

Rotation sensing is essential for both fundamental physics and inertial navigation. The atomic spin comagnetometer is a promising candidate for high-precision gyroscopes, owing to its exceptional sensitivity. A key challenge lies in the coupling between magnetic field and rotation inputs, which degrades rotation measurement precision and affects the bias stability of the gyroscope. This study reports the first shipborne demonstration of a dual-axis comagnetometer for rotation sensing, confirming its viability for marine environments. By applying a rotating magnetic field orthogonal to the pump beam, a four-channel system is constructed to simultaneously sense dual-axis magnetic field and rotation. A linearized input–output model supports real-time, decoupled estimation of both inputs. Sea trials confirm that the comagnetometer can reliably monitor the pitch and yaw angular velocities of the vessel over extended durations. The time-domain outputs show good agreement with those from fiber-optic gyroscopes, demonstrating high accuracy and dynamic tracking performance. This study represents a significant step toward transforming atomic spin comagnetometers into practical, high-precision inertial sensors for real-world marine navigation.