A follow-up to an earlier question.
So I've accepted that I need to correct my accelerometer readings for the accelerometer offset from the center of mass.
The offset means that whenever the rocket rotates, the accelerometer will read an acceleration, even though the center of mass is not accelerating---and it's the center-of-mass acceleration that I need from my accelerometer.
I can calculate the rotation terms and subtract them from my acceleration readings to estimate the acceleration of the center of mass, which means I have to calculate also the location of the center of mass as it shifts down due to fuel consumption.
But I wonder how the correction is done in practice. I'm looking for technical detail, an algorithm even, if it's public... but at least a solid technical description of the algorithm. I want to say this is buried in the many space shuttle and saturn v and apollo papers now in the public domain... but I haven't had the good luck of running into it just yet.
Any pointers on where I might find this info? Huge thanks if you can help!