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This work looks at the exploitation of large numbers of orthogonal redundant inertial measurement units. Specifically, the paper analyses centralized and distributed architectures in the context of data fusion algorithms for those sensors. For both architectures, data fusion algorithms based on Kalman filter are developed. Some of those algorithms consider sensors location, whereas the others do not, but all estimate the sensors bias. A fault detection algorithm, based on residual analysis, is also proposed. Monte-Carlo simulations show better performance for the centralized architecture with an algorithm considering sensors location. Due to a better estimation of the sensors bias, the latter provides the most precise and accurate estimates and the best fault detection. However, it requires a much longer computational time. An analysis of the sensors bias correlation is also done. Based on the simulations, the biases correlation has a small effect on the attitude rate estimation, but a very significant one on the acceleration estimation.

β-[3-Nitrophenvl]-β-[anthron-(9)-yl-(10)]-propionic acid, unlike β-phenyl-β-[anthron-(9)-yl-(10]-propionic acid (2, 3), was not found to undergo cyclisation to form a hydrindone derivative when treated with aluminium chloride. Treatment with concentrated sulphuric acid caused the formation of β-[3-nitrophenyl]-β-[(10)-oxy-anthron-(9)-yl-(10)]-propionic acid. The lactone of this acid was then formed together with Bz-1′-oxy-3′(3-nitrophenyl)-1-9-benzanthrone.The following compounds have been prepared, as far as the authors are aware, for the first time: 3-nitrobenzylidene-dimethyl-malonate; the dimethyl and diethyl esters of β-[3-nitrophenyl]-β-[anthron-(9)-yl-(10)]-isosuccinic acid; β-[3-nitrophenyl]-β-[anthron-(9)-yl-(10)]-propionic acid; the chloride and ethyl ester of β-[3-nitrophenyl]-β-[anthron-(9)-yl-(10)]-propionic acid; β-[3-nitrophenyl]-β-[(10)-oxy-anthron-(9)-yl-(10)]-propionic acid and its lactone; and Bz-1′-oxy-Bz-3′(3-nitrophenyl)-1-9-benzanthrone.

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