In the preferred embodiment, {HEAD ~ the vehicle} is {TAIL ~ a missile} having an inertial navigation system 
In the preferred embodiment , { HEAD ~ the vehicle } is { TAIL ~ a missile } having an inertial navigation system
OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH