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accel acceleration input acceleration sensing unit acceleration signals accelerometer parameters accelerometer pendulum angular Basic inertial navigation categories of drift Celestial navigation Centaur guidance system Centaur inertial change in velocity computing unit coupler determine direction of rotation electrical signal erometer external information feet per second fixed orientation flight gimbal GUIDANCE SYSTEMS Daniel gyroscope wheel index finger INERTIAL GUIDANCE SYSTEMS Inertial gyroscope inertial navigation system inertial reference unit input acceleration input axis Input turning rate mass unbalance masses at points middle finger miniature inertial platform mounted mutually perpendicular axes Nonspinning disk null uncertainty output axis pendulous axis Pilotage platform electronics positive direction according precession Predictable drift present position radian rebalance pulses rebalance signal relative directions right-hand rule sensor shown in figure shows the Centaur Shramo sign convention signal conditioner simple gyro spin axis spin rate steering signals three accelerometers three axes three mutually perpendicular thumb vehicle is moving velocity change