Gyroscope free strapdown inertial measurement unit by six linear accelerometers

A six-accelerome ter configuration is presented to compute the rotationa^ and translational acceleration of a rigid body. This theoretical minimum accelerometer configuration has as stable a mechanization equation as that of recent results of nine-accelero meter schemes. Associated equations/that can be used to work with the accelerometer location and orientation errors are also derived. For navigation application, the novel design can be integrated with other sensors of complementary characteristics to enhance the performance.