Atom interferometric inertial sensors offer exceptional sensitivity but are fundamentally constrained by the periodic phase response of matter-wave interference, which imposes an intrinsic half-fringe dynamic-range limit and prevents continuous inertial tracking. In multiaxis configurations, additional cross-coupling between acceleration and rotation further complicates closed-loop operation. Here we demonstrate dual-channel closed-loop operation of an atomic beam interferometer, realizing decoupled feedback control of acceleration- and rotation-induced phases and overcoming the half-fringe limitation. Using continuous, transversely cooled ${}^{87}\mathrm{Rb}$ atomic beams, the interferometric phases associated with rotation and acceleration are independently extracted, tracked across multiple fringes, and actively compensated through Raman frequency modulation. This closed-loop scheme enables unambiguous measurements up to $\pm 1°/\mathrm{s}$ (i.e., $\pm 0.017\mathrm{r}\mathrm{a}\mathrm{d}/\mathrm{s}$) in rotation and $\pm 0.17\mathrm{g}$ (i.e., $\pm 1.67\mathrm{m}/{\mathrm{s}}^2$) in acceleration while maintaining high fringe contrast, corresponding to nearly two orders-of-magnitude extension beyond the conventional half-fringe limit. The sensor achieves a long-term stability of $4\times {10}^{-4}°/\mathrm{h}$ for rotation and $4\mathrm{\mu }\mathrm{g}$ for acceleration at an averaging time of $1000\mathrm{s}$. By converting the intrinsically periodic interferometric response into stabilized phase-encoded inertial channels, this work demonstrates a dual-channel closed-loop operation of atomic beam interferometry and represents a step toward practical quantum inertial navigation under dynamic conditions.

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• Cold atoms & matter waves
• Mach-Zehnder atom interferometry
• Quantum feedback
• Quantum sensing
• Rotation sensing
• Alkali metals
• Atomic & molecular beams
• Precision measurements