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Examples of different reference sensor arrangements.
| Arrangement | Number of sensors | Direct measurements | Indirect measurements | Sensor redundancy |
|---|---|---|---|---|
| 3–2–2–2 (NAP) | 9 | Linear acceleration, angular acceleration | Angular velocity | Yes |
| 3a3ω | 6 | Linear acceleration, angular velocity | Angular acceleration | No |
| 6a3ω | 9 | Linear acceleration, angular acceleration, angular velocity | – | Yes |
