inertial systems

Was the code I gave Pierce any help in getting the 3D inertial 
transformations working with your crossbow?  For really short flights with 
no significant wobble you might get by with just integrating rates, but 
eventually you will need 3D transformations.

I just got a quote from KVH yesterday for their new 6DOF FOG IMU system -- 
$25,000 and 10-12 weeks delivery.  It looks like we will be sticking with 
the Crossbow FOG for a while, although I am keeping my eyes out for either 
a good integrated GPS / IMU that could reduce GPS position jumps, or a set 
of gyros accurate enough to gyrocompass.

John Carmack