current inertial navigation systems usually use liner accelerometer and gyroscopes to sense linear accelerations and angular velocity, respectively. The gyroscopes have the disadvantage such as: complicated manufacture technique, high cost, and large volume and so on. Due to these factors the small accelerometers with low cost to replace the gyroscopes in some inertial navigation systems. In this paper a ten-accelerometer configuration is proposed which can determine linear acceleration an angular velocity completely. The advantages of this method in comparison with previous works are the simplicity of the equations and elimination of direct integration of angular acceleration. Actual accelerometers have errors such as bias and misalignment which have significant effect on precision of inertial navigation systems. So, these errors and their effect on navigation are considered in modelling and simulation. The obtained results of simulation show that this method has suitable precision in short time navigation systems.

Keywords: Inertial navigation, gyroscope, accelerometer, bias, misalignment

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