A triaxial vectorization technique for a single-beam zero-field atomic magnetometer to suppress cross-axis projection error

Zero-field optically pumped magnetometers (OPMs) have emerged as an important technology for biomagnetism due to their ulta-sensitive performance, contained within a non-cryogenic small-scale sensor-head. The compactness of such OPMs is often achieved through simplified detection schemes, which typically provide only single-axis magnetic field information. However, multi-axis static magnetic fields on non-measurement axes cause a systematic error that manifests as amplitude and phase errors across the measurement axis. Here we present a triaxial operational technique for a compact zero-field OPM which suppresses multi-axis systematic errors through simultaneous measurement and closed-loop active control of the static magnetic fields across all axes. The demonstrated technique requires magnetic modulation across two axes while providing static field information for all three axes. We demonstrate this technique on a rubidium laboratory-based zero-field magnetometer, achieving a bandwidth of 380 Hz with sensitivities of $<25$ fT/$\sqrt{\rm{Hz}}$ across both transverse axes and $65$ fT/$\sqrt{\rm{Hz}}$ along the beam axis. Using the proposed triaxial technique, we demonstrate precise tracking of a 2 Hz triaxial vector test signal and suppression of systematic cross-axis projection errors over an extended period, $\simeq20$~min.