Patent ID: 7526402

Claim:
An inertial measurement unit comprising: a base comprising a plurality of physically distinct sectors; three sets of angle rate sensors orientable triaxially in a first direction, each set mounted on a different sector of the base orientable normal to the other two and comprising N gyroscopes oriented at 360/N-degree increments, where N≧2; three sets of angle rate sensors orientable triaxially in a second direction opposite the first direction, each set mounted on a different sector of the base orientable normal to the other two and comprising N gyroscopes oriented at 360/N-degree increments, where N≧2; at least one accelerometer positioned on the base adapted to provide six signals, three of the signals containing triaxial accelerometer data and three of the signals containing data for determining inclination; and means for outputting signals from the six sets of angle rate sensors and the accelerometer to a processor for calculating at least one of a change in attitude, a change in position, a change in angular rate, a change in velocity, and a change in acceleration of the unit over a plurality of finite time increments.