A Novel Design of NGIMU

To alleviate the accumulation of angular velocity error attributed to accelerometers error, a novel design scheme for a non-gyro inertial measurement unit (NGIMU) is proposed along with its mathematic model. Based on conventional six-accelerometer cube configuration, this scheme employs a nine-accelerometer configuration scheme and obtains correct sign by exploiting redundant information of the accelerometers and integrating the angular acceleration value. The accurate angular velocity can be calculated as square root of the square expression of the angular velocity. Simulation results show that the computational accuracy of angular velocity can be improved and confirm the effectiveness and feasibility of the proposed design scheme.