A new nine-accelerometer configuration of non-gyro inertial measurement unit (NGIMU) is proposed based on a conventional six-accelerometer configuration, and its mathematic model is constructed.

• 摘要基于六加速度计的立方体配置方案，提出了九加速度计的无陀螺惯性测量组合(NGIMU)配置方案，并建立了其数学模型。