The importance of developing a unified inexpensive generic inertial device is substantiated in this paper based on the current situation in the automotive market. A gyro-free architecture of the generic inertial device is proposed as a solution. Exclusion of gyroscopes from the inertial system allows one to achieve an essential decrease in price, while the inertial system based on multiple accelerometers distributed inside the vehicle can still deliver data at sufficient accuracy for automotive inertially-aided systems. The paper also focuses on the choice of mathematical models as a Harwich of models evolving from the basic six sensor gyro free model, and shows the importance of optimization of parts of the design that permit formalization but involve tedious work. The original approach to the choice of optimal sequence of elementary operations is then described.
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