TL;DR: In this paper, the authors presented derived navigation equations for acceleration resolution and drift compensation for the Delco Carousel IMU in the Titan IIIC vehicle, where two sets of the inertial instruments are mounted on a platform which rotates at 1 rpm about an inertially fixed axis.
Abstract: Theme T Delco Carousel IMU in the Titan IIIC vehicle is similar to the conventional inertial platform except that two sets of the inertial instruments are mounted on a platform which rotates at 1 rpm about an inertially fixed axis. Derivations of navigation equations for acceleration resolution and drift compensation for the IMU are presented. The equations have been checked out and implemented in the flight computer.