Abstract We propose a new model for magnetic field errors based on the rotation measurement of the K-Rb-$^{21}{\rm{Ne}}$ co-magnetometer, considering the density ratio and spin collisions. The spin polarization characteristics of different alkali metal density ratios were analyzed by creating five cells with different density ratios, and the correctness of the magnetic field error model was verified experimentally. Moreover, the effects of five different alkali metal density ratios of cells on the sensitivity, long-term stability and magnetic field error suppression of the K-Rb-$^{21}{\rm{Ne}}$ co-magnetometer were investigated experimentally. When the density ratio is 1:107, there can be the optimal magnetic field error suppression effect, sensitivity and long-term stability. According to the derived magnetic field error equation, the magnetic noise error of the K-Rb-$^{21}{\rm{Ne}}$ co-magnetometer with an optimized density ratio is reduced by nearly 5 times from 260$^{\circ}$/h/nT to 56.5$^{\circ}$/h/nT, the sensitivity is improved from 2.9$\times$10$^{-5}$ $^{\circ}$/s/Hz$^{1/2}$ to 7.0$\times$10$^{-6}$ $^{\circ}$/s/Hz$^{1/2}$ at 1 Hz, and the long-term stability Allan variance over two hours is improved from 1.9$\times$10$^{-2}$ $^{\circ}$/h to 8.9$\times$10$^{-3}$ $^{\circ}$/h. This result provides a theoretical basis for designing the parameters of the K-Rb-$^{21}{\rm{Ne}}$ co-magnetometer cell.
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