In addition to V-2 hardware, the U.S. Government delivered German mechanization equations for the V-2 guidance, navigation, and control systems, as well as for advanced development concept vehicles, to U.S. defence contractors for analysis. In the 1950s some of these documents were useful to U.S. contractors in developing direction cosine matrix transformations and other inertial navigation architecture concepts that were applied to early U.S. programs such as the Atlas and Minuteman guidance systems as well as the Navy's Subs Inertial Navigation System.