A self-contained, integrated micro-cube-sized inertial measurement unit is provided wherein accuracy is achieved through the use of specifically oriented sensors, the orientation serving to substantially cancel noise and other first-order effects, and the use of a noise-reducing algorithm such as wavelet cascade denoising and an error correcting algorithm such as a Kalman filter embedded in a digital signal processor device. In a particular embodiment, a pair of three sets of angle rate sensors are orientable triaxially in opposite directions, wherein each set is mounted on a different sector of a base orientable normal to the other two and comprising N gyroscopes oriented at 360/N-degree increments, where N.gtoreq.2. At least one accelerometer is included to provide triaxial data. Signals are output from the angle rate sensors and accelerometer for calculating a change in attitude, position, angular rate, acceleration, and/or velocity of the unit.