A new compensation method for angular rate. estimation of non-gyro inertial measurement unit (NGIMU)is proposed in terms of the existence of accelerometer mounting error, which seriously affects the precision of navigation parameter estimation. Using the accelerometer output error function, the algorithm com-pensates the posture parameters in the traditional algorithm of angular rate estimation to reduce the accelerome-ter mounting error. According to the traditional accelerometer configurations, a novel nine-accelerometer confi-guration of NGIMU is presented with its mathematic model constructed. The semi-hardware simulations of the proposed algorithm are investigated based on the presented NGIMU configuration, and the results show the ef-fectivity of the new algorithm.