RE: LeoThread 2026-01-08 18-56

A Pendulous Integrating Gyroscopic Accelerometer (PIGA) measures acceleration and integrates it over time to compute velocity, primarily for inertial navigation in missiles and aircraft.

It consists of a pendulous mass mounted on a low-friction bearing, allowing it to swing like a pendulum in response to acceleration. A gyroscope is attached to this mass, spinning to provide gyroscopic rigidity that resists unwanted motion due to rotation (via precession).

When linear acceleration occurs (e.g., forward thrust), the mass tries to "fall" backward relative to the device, deflecting the pendulum. The gyroscope senses this deflection and generates a torque proportional to the acceleration. This torque drives a motor that applies an opposite force to re-center the pendulum, with the motor's current flow directly representing acceleration magnitude.

Integration happens by accumulating this current over time, yielding velocity. For position, further integration is needed externally. Its high sensitivity comes from the gyroscope's stability, enabling precise measurements over wide ranges.

Source: Wikipedia on PIGA accelerometers.

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Wow, this sounds really complicated. What is the purpose of this explanation?