Discussion
The accelerometer triad in an attitude and heading reference system measures
Answer: C
Correct answer: Specific force along three orthogonal axes
An accelerometer measures specific force - the non-gravitational force per unit mass acting on its proof mass - resolved along its sensitive axis. Three of them mounted orthogonally give the specific force vector in body axes.
The distinction from acceleration matters: a stationary accelerometer with its axis vertical reads about \( 9.81\ \mathrm{m/s^2} \), not zero, because the case is pushing the proof mass upward against gravity. That is why the triad can serve as a vertical reference at rest but is ambiguous under acceleration. Angular rate is the gyros' business and magnetic field the magnetometer's.
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