We analyze methods to go beyond the standard quantum limit for a class of atomic interferometers, where the quantity of interest is the difference of phase shifts obtained by two independent atomic ensembles. An example is given by an atomic Sagnac interferometer, where for two ensembles propagating in opposite directions in the interferometer this phase difference encodes the angular velocity of the experimental setup. We discuss methods of squeezing separately or jointly observables of the two atomic ensembles, and compare in detail advantages and drawbacks of such schemes. In particular we show that the method of joint squeezing may improve the variance by up to a factor of 2. We take into account fluctuations of the number of atoms in both the preparation and the measurement stage, and obtain bounds on the difference of the numbers of atoms in the two ensembles, as well as on the detection efficiency, which have to be fulfilled in order to surpass the standard quantum limit. Under realistic conditions, the performance of both schemes can be improved significantly by reading out the phase difference via a quantum non-demolition (QND) measurement. Finally, we discuss a scheme using macroscopically entangled ensembles.
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