1. An Outline of Inertial Navigation -- Navigation's Beginnings -- Inertial Navigation -- Maps and Reference Frames -- The Inertial Navigation Process -- Inertial Platforms -- Strapdown Systems -- System Alignment -- Advantages and Disadvantages of Platform Systems -- Advantages and Disadvantages of Strapdown Systems -- Star Trackers -- The Global Positioning System -- Applications of Inertial Navigation -- Conclusions -- References -- 2. Gyro and Accelerometer Errors and Their Consequences -- Effect of System Heading Error -- Scale Factor -- Non-linearity and Composite Error -- Bias -- Random Drift -- Random Walk -- Dead Band, Threshold, and Resolution -- Hysteresis -- Day-to-Day Uncertainty -- Gyro Acceleration Sensitivities -- Rotation Induced Errors -- Angular Accelerometers -- Angular Accelerometer Threshold Error -- The Statistics of Instrument Performance -- Typical Instrument Specifications -- References -- 3. The Principles of Accelerometers -- The Parts of an Accelerometer -- The Spring-Mass System -- Open-Loop Pendulous Sensors -- Closed-Loop Accelerometers -- Open-Loop Versus Closed-Loop Sensors -- Sensor Rebalance Servos -- The Voltage Reference Problem -- Novel Accelerometer Principles -- References -- 4. The Pendulous Accelerometer -- A Generic Pendulous Accelerometer -- The IEEE Model Equations -- The Sundstrand "Q-Flex" Accelerometer -- Other Electromagnetic Pendulous Accelerometers -- The Silicon Accelerometer -- References -- 5. Vibrating Beam Accelerometers -- The Vibration Equation -- The Resolution of a Vibrating Element Accelerometer -- The Quartz Resonator -- VBAs in General -- The Sundstrand Design -- The Kearfott Design -- Comparison of Free and Constrained Accelerometers -- Conclusion -- References -- 6. The Principles of Mechanical Gyroscopes -- Angular Momentum -- The Law of Gyroscopics -- The Spinning Top - Nutation -- Coriolis Acceleration -- Gyroscopes with One and Two Degrees of Freedom -- Conclusion -- References -- 7. Single Degree of Freedom Gyroscopes -- The Rate Gyro -- The Rate-Integrating Gyro -- A Digression into Accelerometers -- Conclusion -- References -- 8. Two Degree of Freedom Gyroscopes -- The Two Degree of Freedom (Free) Gyro -- The External Gimbal Type -- Two-Axis Floated Gyros -- Spherical Free Rotor Gyros -- The Electrically Suspended Gyro -- The Gas Bearing Free Rotor Gyro -- References -- 9. The Dynamically Tuned Gyroscope -- The DTG Tuning Effect -- The Tuning Equations -- Damping and Time Constant -- Biases Due to Damping and Mistuning -- Quadrature Mass Unbalance -- Synchronous Vibration Rectification Errors -- Wide Band Vibration Rectification Errors -- The Pickoff and Torquer for a DTG -- The DTG Model Equation -- Conclusion -- References -- 10. Vibrating Gyroscopes -- The Vibrating String Gyro -- The Tuning Fork Gyro -- Vibrating Shell Gyros -- The Hemispherical Resonator Gyro -- The Vibrating Cylinder (START) Gyro -- The Advantages of Vibrating Shell Gyros -- The Multisensor Principle and Its Error Sources -- Conclusion -- References -- 11. The Principles of Optical Rotation Sensing -- The Inertial Property of Light -- The Sagnac Effect -- The Shot Noise Fundamental Limit -- The Optical Resonator -- Optical Fibers -- The Coherence of an Oscillator -- Types of Optical Gyro -- Conclusion -- References -- 12. The Interferometric Fiber-Optic Gyro -- The History of the Fiber-Optic Gyro -- The Basic Open-Loop IFOG -- Biasing the IFOG -- The Light Source -- Reciprocity and the "Minimum Configuration" -- Closing the Loop-Phase-Nulling -- Fiber-to-Chip Attachment - The JPL IFOG -- The Effect of Polarization on Gyro Drift -- The Kerr Electro-Optic Effect -- The Fundamental Limit of IFOG Performance -- Conclusions -- References -- 13. The Ring Laser Gyro -- The Laser -- The Ring Laser -- Lock-in -- The Multi-oscillator -- Shared-Mirror RLG Assemblies -- The Quantum Fundamental Limit -- Quantization Noise -- Conclusion -- References -- 14. Passive Resonant Gyros -- The Discrete Component Passive Ring Resonator -- The Resonant Fiber-Optic Gyro -- The Micro-Optic Gyro -- IFOG, RFOG, and MOG Size Limits -- Fundamental Limits for RFOG, IFOG, and RLG -- Conclusions -- References -- 15. Testing Inertial Sensors -- Inertial Sensor Test Labs -- Accelerometer Testing -- Gyroscope Testing -- Conclusion -- References -- 16. Design Choices for Inertial Instruments -- A Platform or a Strapdown System? -- Aiding the IMU -- Choice of Sensor Type -- Reliability -- Sensor Design Check Lists -- Conclusions -- References.