http://www.feynmanlectures.caltech.edu/I_20.html http://www.feynmanlectures.caltech.edu/I_20.html There's also a lecture on inertial guidance in Feynman's tips

http://www.feynmanlectures.caltech.edu/I_20.html http://www.feynmanlectures.caltech.edu/I_20.html There's also a lecture on inertial guidance in Feynman's tips on physics; it's more about the clever details of practical gyros. Note that these explanations already presume rotation is absolute wrt an inertial frame.