Apparatus for measuring inertial specific force and angular rate of a moving body

Apparatus for measuring inertial specific force and angular rate of moving body by means of a plurality of accelerometers mounted on mutually perpendicular axes, each accelerometer being mounted for vibratory movement along its respective axis. The apparatus further includes a drive for vibrating each accelerometer to produce output signals and a signal processor for deriving from the accelerometer output signals the specific force and angular rate for the respective axes. Enhanced performance is achieved by utilizing pairs of accelerometers vibrating along each axis combined with a preseparation circuit that separates the components of the accelerometer output signal having specific force information from components having angular rate information.