An inertial measurement unit (100, 200, 300) for measuring an input rate of rotation about an input axis (112, 212), the IMU (100, 200, 300) comprising: a first three dimensional gyroscope (102, 202, 302), the first gyroscope (102, 202, 302) configured to sense rotation about a first set of three mutually orthogonal axes, wherein the first gyroscope (202, 302) is disposed such that a first axis of the first set of three axes is oriented at a skew angle in degrees away from a reference plane, the reference plane (124, 224) normal to the input axis (112, 212); a second three dimensional gyroscope (104, 204, 304), the second gyroscope (104, 204, 304) configured to sense rotation about a second set of three mutually orthogonal axes (114, 116, 118, 214, 216, 218), wherein the second gyroscope is disposed such that a second axis (118, 218) of the second set of three axes (114, 116, 118, 214, 216, 218) is oriented at the skew angle (120, 220) in degrees away from the reference plane (124, 224); wherein a skew constant is equal to a maximum rated rate of rotation that the first gyroscope (102, 202, 302) is configured to sense about the first axis of the first set divided by a maximum desired rate of rotation that is to be measured about the input axis (112, 212); wherein the skew angle (120, 220) is an angle less than or equal to the arcsine of the skew constant; wherein the first and second three dimensional gyroscopes are oriented in different directions, such that the first gyroscope is rotated 180 degrees with respect to the second gyroscope and the positive direction of the first axis of the first gyroscope points generally, notwithstanding the skew angle, in the opposite direction from the positive direction of the second axis of the second gyroscope; one or more processing devices coupled to the first gyroscope (102, 202, 302) and the second gyroscope (104, 204, 304); and one or more data storage devices coupled to the one or more processing devices, the one or more data storage devices including instructions which, when executed by the one or more processing devices, cause the one or more processing devices to calculate a first rate of rotation based on dividing a sensed rate of rotation about the first axis of the first set by the sine of the skew angle (120, 220); and wherein the instructions cause the one or more processing devices to calculate a second rate of rotation based on dividing a sensed rate of rotation about the second axis of the second set by the sine of the skew angle, and to calculate the input rate of rotation based on combining the first rate of rotation with the second rate of rotation. a first three dimensional gyroscope (102, 202, 302), the first gyroscope (102, 202, 302) configured to sense rotation about a first set of three mutually orthogonal axes, wherein the first gyroscope (202, 302) is disposed such that a first axis of the first set of three axes is oriented at a skew angle in degrees away from a reference plane, the reference plane (124, 224) normal to the input axis (112, 212); a second three dimensional gyroscope (104, 204, 304), the second gyroscope (104, 204, 304) configured to sense rotation about a second set of three mutually orthogonal axes (114, 116, 118, 214, 216, 218), wherein the second gyroscope is disposed such that a second axis (118, 218) of the second set of three axes (114, 116, 118, 214, 216, 218) is oriented at the skew angle (120, 220) in degrees away from the reference plane (124, 224); wherein a skew constant is equal to a maximum rated rate of rotation that the first gyroscope (102, 202, 302) is configured to sense about the first axis of the first set divided by a maximum desired rate of rotation that is to be measured about the input axis (112, 212); wherein the skew angle (120, 220) is an angle less than or equal to the arcsine of the skew constant; wherein the first and second three dimensional gyroscopes are oriented in different directions, such that the first gyroscope is rotated 180 degrees with respect to the second gyroscope and the positive direction of the first axis of the first gyroscope points generally, notwithstanding the skew angle, in the opposite direction from the positive direction of the second axis of the second gyroscope; one or more processing devices coupled to the first gyroscope (102, 202, 302) and the second gyroscope (104, 204, 304); and one or more data storage devices coupled to the one or more processing devices, the one or more data storage devices including instructions which, when executed by the one or more processing devices, cause the one or more processing devices to calculate a first rate of rotation based on dividing a sensed rate of rotation about the first axis of the first set by the sine of the skew angle (120, 220); and wherein the instructions cause the one or more processing devices to calculate a second rate of rotation based on dividing a sensed rate of rotation about the second axis of the second set by the sine of the skew angle, and to calculate the input rate of rotation based on combining the first rate of rotation with the second rate of rotation.