diff --git a/src/algorithms/PVT/libs/vtl_engine.cc b/src/algorithms/PVT/libs/vtl_engine.cc
index 5ba20aab0..149d220d9 100644
--- a/src/algorithms/PVT/libs/vtl_engine.cc
+++ b/src/algorithms/PVT/libs/vtl_engine.cc
@@ -419,6 +419,2578 @@ void Vtl_Engine::model3DoF(double &acc_x, double &acc_y, double &acc_z, arma::ma
         }
 }
 
+void Vtl_Engine::accelerometer(double &acc_x, double &acc_y, double &acc_z, arma::mat kf_x, double dt, int counter)
+{
+    arma::colvec u_vec;
+    arma::colvec acc_vec;
+    arma::colvec u_dir;
+    static double t_disparo = 0;
+    double accelerometer;
+
+    u_vec = kf_x.rows(3, 5);
+
+    double u = norm(u_vec, 2);
+
+    if (counter > 1500)
+        {
+            if (u > 6)
+                {
+                    t_disparo = t_disparo + dt;
+
+                    if (t_disparo < .2)
+                        {
+                            u_dir = {.90828, -.13984, -.388756};
+                        }
+                    else
+                        {
+                            u_dir = u_vec / u;
+                        }
+
+                    accelerometer = AccLkTable(t_disparo);
+                    acc_vec = accelerometer * u_dir;
+
+                    acc_x = acc_vec(0);
+                    acc_y = acc_vec(1);
+                    acc_z = acc_vec(2);
+                }
+            else
+                {
+                    t_disparo = 0;
+                    // % return
+                    acc_x = 0;
+                    acc_y = 0;
+                    acc_z = 0;
+                }
+        }
+    else
+        {
+            // % return
+            acc_x = 0;
+            acc_y = 0;
+            acc_z = 0;
+        }
+}
+
+double Vtl_Engine::AccLkTable(double t_disparo)
+{
+    double Acc;
+    arma::mat LkTable={
+{0,191.3693381},
+{0.01,391.0831124},
+{0.02,385.6263172},
+{0.03,379.2536529},
+{0.04,372.8504183},
+{0.05,366.4351054},
+{0.06,359.9487249},
+{0.07,353.4523708},
+{0.08,346.9151605},
+{0.09,340.3533742},
+{0.1,339.9823669},
+{0.11,339.649644},
+{0.12,339.3131193},
+{0.13,338.9712498},
+{0.14,338.6260923},
+{0.15,338.2779261},
+{0.16,337.9238608},
+{0.17,337.5646868},
+{0.18,337.2045652},
+{0.19,336.8363276},
+{0.2,337.6125746},
+{0.21,338.3898123},
+{0.22,339.1721974},
+{0.23,339.9508641},
+{0.24,340.7342869},
+{0.25,341.5135997},
+{0.26,342.2964879},
+{0.27,343.0777302},
+{0.28,343.8624016},
+{0.29,344.6450452},
+{0.3,345.4302226},
+{0.31,346.2163638},
+{0.32,347.003086},
+{0.33,347.7904035},
+{0.34,348.5766329},
+{0.35,349.3650418},
+{0.36,350.1543455},
+{0.37,350.9437807},
+{0.38,351.735714},
+{0.39,352.5236761},
+{0.4,353.317052},
+{0.41,354.1104116},
+{0.42,354.9032791},
+{0.43,355.6925592},
+{0.44,356.490275},
+{0.45,357.2834519},
+{0.46,358.0785073},
+{0.47,358.8713231},
+{0.48,359.668187},
+{0.49,360.4658938},
+{0.5,361.2644865},
+{0.51,362.0577138},
+{0.52,362.8553987},
+{0.53,363.6519585},
+{0.54,364.4531391},
+{0.55,365.2484945},
+{0.56,366.0474406},
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+{0.58,367.645723},
+{0.59,368.4312816},
+{0.6,369.2180327},
+{0.61,370.0057638},
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+{0.63,371.577332},
+{0.64,372.3618727},
+{0.65,373.1392343},
+{0.66,373.9223953},
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+{24.97,11.27663828},};
+
+
+    arma::uvec index_E = find(LkTable<=t_disparo, 1, "last");
+
+    if (index_E(0)<(LkTable.n_rows-1)){  
+        double tdisparo1=LkTable(index_E(0),0);
+        double tdisparo2=LkTable(index_E(0)+1,0);
+        double Acc1=LkTable(index_E(0),1);
+        double Acc2=LkTable(index_E(0)+1,1);
+        
+        Acc=(t_disparo-tdisparo1)*(Acc2-Acc1)/(tdisparo2-tdisparo1)+Acc1;
+    }else{
+        E=0;
+    }
+    
+    return Acc;
+}
+
 double Vtl_Engine::EmpujeLkTable(double t_disparo)
 {
     double E;
diff --git a/src/algorithms/PVT/libs/vtl_engine.h b/src/algorithms/PVT/libs/vtl_engine.h
index a7b081f3f..ec5db6fc9 100644
--- a/src/algorithms/PVT/libs/vtl_engine.h
+++ b/src/algorithms/PVT/libs/vtl_engine.h
@@ -107,7 +107,9 @@ private:
     void obsv_calc(arma::mat &rho_pri, arma::mat &rhoDot_pri, arma::colvec &ax, arma::colvec &ay, arma::colvec &az, int sat_number, arma::mat sat_p, arma::mat sat_v, arma::mat kf_x);  // Observables calculation
     void kf_measurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::mat rhoDot2_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x);
     void model3DoF(double &acc_x, double &acc_y, double &acc_z, arma::mat kf_x, double dt, int counter);
+    void accelerometer(double &acc_x, double &acc_y, double &acc_z, arma::mat kf_x, double dt, int counter);
     double EmpujeLkTable(double t_disparo);
+    double AccLkTable(double t_disparo);
 };
 
 /** \} */