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Suppose I place the accelerometer at an offset from the centre of rotation. Then it would make a circular arc about the centre of the vehicle when the vehicle rotates purely. In that case, measuring X-acceleration and Y-accelerations, and using a kinematic model, can I not see where the accelerometer has gone with respect to the centre of the robot? If I can get that, then I should also be able to get 'theta' right?

Please correct me if I am wrong. image description

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