An inertial measurement unit, IMU comprising: an inertial sensor assembly comprising: a plurality of accelerometers (24a-c), each of the plurality of accelerometers (24a-c) configured to sense acceleration of the IMU along one of a plurality of axes; and a plurality of rate gyroscopes (32a-c), each of the plurality of rate gyroscopes (32a-c) configured to sense rotational rate of the IMU along one of the plurality of axes; an inertial sensor compensation and correction module configured to apply a set of error compensation values to acceleration sensed by the plurality of accelerometers (24a-c) and to rotational rate sensed by the plurality of rate gyroscopes (32a-c) to produce a compensated acceleration and a compensated rotational rate of the IMU; and a Kalman estimator module configured to: determine a change in integrated acceleration of the IMU over a time interval based on the compensated acceleration and the compensated rotational rate of the IMU; determine a body-axis reference velocity vector using a received angle of attack and a received true airspeed; determine a set of error correction values based on a difference between the change in the integrated acceleration of the IMU and a change in the body-axis reference velocity vector of the IMU; and provide the set of error correction values to the inertial sensor compensation and correction module; wherein the inertial sensor compensation and correction module is further configured to: apply the set of error correction values to each of the compensated acceleration and the compensated rotational rate to produce an error-corrected acceleration and an error-corrected rotational rate; and output the error-corrected acceleration and the error-corrected rotational rate. an inertial sensor assembly comprising: a plurality of accelerometers (24a-c), each of the plurality of accelerometers (24a-c) configured to sense acceleration of the IMU along one of a plurality of axes; and a plurality of rate gyroscopes (32a-c), each of the plurality of rate gyroscopes (32a-c) configured to sense rotational rate of the IMU along one of the plurality of axes; a plurality of accelerometers (24a-c), each of the plurality of accelerometers (24a-c) configured to sense acceleration of the IMU along one of a plurality of axes; and a plurality of rate gyroscopes (32a-c), each of the plurality of rate gyroscopes (32a-c) configured to sense rotational rate of the IMU along one of the plurality of axes; an inertial sensor compensation and correction module configured to apply a set of error compensation values to acceleration sensed by the plurality of accelerometers (24a-c) and to rotational rate sensed by the plurality of rate gyroscopes (32a-c) to produce a compensated acceleration and a compensated rotational rate of the IMU; and a Kalman estimator module configured to: determine a change in integrated acceleration of the IMU over a time interval based on the compensated acceleration and the compensated rotational rate of the IMU; determine a body-axis reference velocity vector using a received angle of attack and a received true airspeed; determine a set of error correction values based on a difference between the change in the integrated acceleration of the IMU and a change in the body-axis reference velocity vector of the IMU; and provide the set of error correction values to the inertial sensor compensation and correction module; determine a change in integrated acceleration of the IMU over a time interval based on the compensated acceleration and the compensated rotational rate of the IMU; determine a body-axis reference velocity vector using a received angle of attack and a received true airspeed; determine a set of error correction values based on a difference between the change in the integrated acceleration of the IMU and a change in the body-axis reference velocity vector of the IMU; and provide the set of error correction values to the inertial sensor compensation and correction module; wherein the inertial sensor compensation and correction module is further configured to: apply the set of error correction values to each of the compensated acceleration and the compensated rotational rate to produce an error-corrected acceleration and an error-corrected rotational rate; and output the error-corrected acceleration and the error-corrected rotational rate. apply the set of error correction values to each of the compensated acceleration and the compensated rotational rate to produce an error-corrected acceleration and an error-corrected rotational rate; and output the error-corrected acceleration and the error-corrected rotational rate.