Linear acceleration compensation for IMU sensor fusion algorithm?

Question

Sensors

The sensor fusion algorithm uses the accelerometer to find the gravity vector as the vector from which the current position in space (tongage, roll) is counted. Is it possible to determine the true direction of the gravity vector at the moment of linear acceleration at small accelerations?

Answer 1

Only with the help of an accelerometer is impossible, you need a gyroscope. If the accelerometer readings change, but the gyroscope does not, then the acceleration vector has changed.