A physical model device of 12 accelerometers’ inertial measurement unit is designed and manufactured to solute the angular velocity estimation’s low precision’s problem.In the new scheme

each accelerometer’ s output information is used and two non-integral angular estimation methods is proposed

the angular velocity’s sign is identified.The decoupling algorithm is designed for improving the accelerometer’ s coupling effect.The experiment results illustrate that the non-integral method can restrain the acceleometers’output error’ s accumulation by integral method

the angular velocity’s precision is raised by about one order of magnitude than integral method.the decoupling method can decrease the accelerometer’s output error by about one order of magnitude.