Inertial sensors measure rotation rate and acceleration both are vectors.
are sensors for measuring rotation: rate gyroscopesmeasure rotation rate, and integrating gyroscopes measure rotation angles(also called
are sensors for measuring acceleration. However, accelerometersCannot measure gravitational acceleration.That is, an accelerometer in free fall (in orbit) has no detectable input.
+ dw/dt X R + 2wXdR/dt + wx(wxR)= A + gintegrationAcce.gravityintegrationR