1. A method of direct determination of angular and translational velocity at a particular location on a rigid body in a global reference frame based on measured accelerations collected from a plurality of independent accelerometers instrumented on the rigid body, the method comprising: (a) receiving, in a computer system having an application module for direct determination of angular and translation velocity at a particular location on a rigid body installed thereon, the measured accelerations, orientation of each of the accelerometers and orientation of the rigid body; (b) forming initial direction cosine matrices for said each of the accelerometers and for the rigid body using the respective orientations in the computer system; (c) initializing current solution time in the computer system; (d) transforming measured accelerations to the global reference frame in the computer system; (e) calculating global velocity by integrating the transformed global accelerations in the computer system; (f) calculating current direction cosine matrices based on previous direction cosine matrices and the angular velocity matrix in the computer system; (g) creating a first set of redundant vector equations for the angular velocity in the computer system; (h) obtaining the angular velocity by solving the first set of redundant equations using a first solution technique in the computer system; (i) creating a second set of redundant vector equations for the translational velocity in the computer system; (j) obtaining the translational velocity by solving the second set of redundant equations using a second technique in the computer system; (k) updating the current solution time in the computer system; and repeating (d) to (k) until the current time is greater than pre-defined total solution time, wherein both the angular velocity and the translational velocity are displayed to a monitor coupled to the computer system.