A Continuous Dual-Axis Atomic Interferometric Inertial Sensor

We present an interferometric inertial sensor that utilizes two counter-propagating atomic beams with transverse two-dimensional cooling. By employing three parallel and spatially aligned Raman laser beams for Doppler-sensitive Raman transitions, we successfully generate inertia-sensitive Mach-Zehnder interference fringes with an interrogation length of $2L=54\,\rm{cm}$. The sensor's capability to measure rotation and acceleration simultaneously in dynamic environments is validated through comparative analysis with classical sensors under force oscillation in different directions. Additionally, we conduct experiments on a turntable to calibrate the gyroscope's scaling factor and address nonlinearity. The angular random walk (ARW) and velocity random walk (VRW) of the senor are $3\times10^{-4}\,^\circ/\rm{\sqrt{h}}$ and $107\,\mathrm{\mu}g/\rm{\sqrt{Hz}}$, respectively, with the long-term stability reaching $9\times10^{-4}\,\rm{^\circ/h}$ for rotation and $10\,\rm{\mu g}$ for acceleration at an integration time of 1000s.