Heading-error-free optical atomic magnetometry in the Earth-field range

Alkali-metal atomic magnetometry is widely used due to its high sensitivity and cryogen-free operation. However, when operating in geomagnetic field, it suffers from heading errors originating from nonlinear Zeeman (NLZ) splittings and magnetic resonance asymmetries, which lead to difficulties in mobile-platform measurements. We demonstrate an alignment based ${}^{87}$Rb magnetometer, which, with only a single magnetic resonance peak and well-separated hyperfine transition frequencies, is insensitive or even immune to NLZ-related heading errors. It is shown that the magnetometer can be implemented for practical measurements in the geomagnetic environments and the photon-shot-noise-limited sensitivity reaches $9\mathrm{f}\mathrm{T}\mathrm{/}\sqrt{\mathrm{H}\mathrm{z}}$ at room temperature.