Quantum sensing of acceleration and rotation by interfering magnetically-launched atoms

Accurate measurement of inertial quantities is essential in geophysics, geodesy, fundamental physics and navigation. For instance, inertial navigation systems require stable inertial sensors to compute the position and attitude of the carrier. Here, we present an architecture for a compact cold-atom accelerometer-gyroscope based on a magnetically launched atom interferometer. Characterizing the launching technique, we demonstrate 700 ppm gyroscope scale factor stability over one day, while acceleration and rotation rate bias stabilities of $7 \times 10^{-7}$ m/s$^2$ and $4 \times 10^{-7}$ rad/s are reached after two days of integration of the cold-atom sensor. Hybridizing it with a classical accelerometer and gyroscope, we correct their drift and bias to achieve respective 100-fold and 3-fold increase on the stability of the hybridized sensor compared to the classical ones. Compared to state-of-the-art atomic gyroscope, the simplicity and scalability of our launching technique make this architecture easily extendable to a compact full six-axis inertial measurement unit, providing a pathway towards autonomous positioning and orientation using cold-atom sensors.