Earth's circumference mile in the seventeenth century and the metre in the eighteenth. Earth's polar circumference is almost exactly 40,000 km because the metre was originally calibrated on this measurement (1/10-millionth of the distance between the poles and the equator), which is almost exactly 21,600 nautical miles (being defined as one minute of a degree – i.e. 360 multiplied by 60). It has been described as "the single most important measurement" of the Earth, assuming the Earth to be a sphere (the Earth is an technically an ellipsoid, albeit with just 0.3% flattening). Earth's circumference lines are the foundation of the coordinate
Inertial measurement unit as a WIMU. An inertial measurement unit works by detecting linear acceleration using one or more accelerometers and rotational rate using one or more gyroscopes. Some also include a magnetometer which is commonly used as a heading reference. Typical configurations contain one accelerometer, gyro, and magnetometer per axis for each of the three vehicle axes: pitch, roll and yaw. IMUs are often incorporated into Inertial Navigation Systems which utilize the raw IMU measurements to calculate attitude, angular rates, linear velocity and position relative to a global reference frame. The IMU equipped INS forms the backbone for the navigation and control