An inertial system (10, 100) comprising: at least one inertial sensor (12, 16, 102, 110) configured to measure an inertial parameter associated with each of at least one axis; a calibration system (20, 120) that comprises a motion controller (26, 126) configured to sequentially rotate the calibration system (20, 120) about a pivot to each of a plurality of predetermined orientations (56, 58, 60, 62, 64, 66) to enable the calibration system (20, 120) to measure an inertial calibration parameter at each of a plurality input axes associated with each of the respective plurality of predetermined orientations (56, 58, 60, 62, 64, 66), wherein the calibration system (20, 120) is configured to sequentially measure the inertial calibration parameter at each of the plurality input axes; and wherein the motion controller (26, 126) is configured to sequentially rotate the calibration system (20, 120) about the pivot to each of the plurality of predetermined orientations (56, 58, 60, 62, 64, 66) such that the calibration system (20, 120) is rotated between a neutral position corresponding to a first predetermined orientation having a defined relationship with respect to the at least one axis, a first predetermined angle with respect to the neutral position corresponding to a second predetermined orientation, and a second angle with respect to the neutral position corresponding to a third predetermined orientation; the inertial system further comprises an inertial processor (28, 118) configured to calculate motion of the inertial system (10, 100) based on the inertial parameter associated with each of the at least one axis and the sequential measurements of the inertial calibration parameter at each of the plurality of input axes associated with each of the respective plurality of predetermined orientations (56, 58, 60, 62, 64, 66). at least one inertial sensor (12, 16, 102, 110) configured to measure an inertial parameter associated with each of at least one axis; a calibration system (20, 120) that comprises a motion controller (26, 126) configured to sequentially rotate the calibration system (20, 120) about a pivot to each of a plurality of predetermined orientations (56, 58, 60, 62, 64, 66) to enable the calibration system (20, 120) to measure an inertial calibration parameter at each of a plurality input axes associated with each of the respective plurality of predetermined orientations (56, 58, 60, 62, 64, 66), wherein the calibration system (20, 120) is configured to sequentially measure the inertial calibration parameter at each of the plurality input axes; and wherein the motion controller (26, 126) is configured to sequentially rotate the calibration system (20, 120) about the pivot to each of the plurality of predetermined orientations (56, 58, 60, 62, 64, 66) such that the calibration system (20, 120) is rotated between a neutral position corresponding to a first predetermined orientation having a defined relationship with respect to the at least one axis, a first predetermined angle with respect to the neutral position corresponding to a second predetermined orientation, and a second angle with respect to the neutral position corresponding to a third predetermined orientation; the inertial system further comprises an inertial processor (28, 118) configured to calculate motion of the inertial system (10, 100) based on the inertial parameter associated with each of the at least one axis and the sequential measurements of the inertial calibration parameter at each of the plurality of input axes associated with each of the respective plurality of predetermined orientations (56, 58, 60, 62, 64, 66).