GYROSCOPE FREE STRAPDOWN INERTIAL MEASUREMENT UNIT BY 6 LINEAR ACCELEROMETERS

A six-accelerometer configuration is presented to compute the rotation al and translational acceleration of a rigid body. This theoretical mi nimum accelerometer configuration has as stable a mechanization equati on as that of recent results of nine-accelerometer schemes. Associated equations that can be used to work with the accelerometer location an d orientation errors are also derived. For navigation application, the novel design can be integrated with other sensors of complementary ch aracteristics to enhance the performance.