Advanced Inertial Reference Sphere (AIRS)

• "This Inertial Measurement Unit (IMU) from the LGM-118 Peacekeeper intercontinental ballistic missile consists of a platform isolated from vehicle movement by gimbals. Since the platform does not rotate or move with the vehicle, its orientation remains fixed, or inertial, in space. This reference is then used to precisely measure vehicle attitude in flight. Attitude data is utilized by the flight control computers for turn coordination and steering command guidance."

• Source: Hill Aerospace Museum

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The platform contains accelerometers which monitor accel in 3 axes. The i integration of the outputs provides the velocity. The integration of the velocity provides distance traveled.