Gyroscope-free inertial measurement unit（GFIMU） is the use of linear acceleration of the portfolio in the space of the calculated velocity vector

measuring axial vector acceleration

a inertial measurement unit.GFIMU 12 accelerometer configuration scheme is proposed

which can come at directly angular velocity numerical expression

effectively avoid the integral equations error.On the basis of deriving a mathematical model navigation parameter calculation

the physical structural model and the data acquisition circuit are designed

and system calibration experiments are carried throug.A three-dimensional table based on the value of point on nearly gn and 0 point multi-position calibration method is proposed

which can effectively reduce the influence of poslition error in the accelerometer calibration.