Real-time vector field tracking with a cold-atom magnetometer

We demonstrate a fast three-axis optical magnetometer using cold, optically-trapped ${}^{87}$Rb gas as a sensor. By near-resonant Faraday rotation we record the free-induction decay following optical pumping along two orthogonal axes to obtain the three field components and one gradient component. A single measurement achieves shot-noise limited sub-nT sensitivity in 1 ms, with transverse spatial resolution of $\sim$ 20 $\mu$m. We make a detailed analysis of the shot-noise-limited sensitivity.