The fascinating thing is that the Titan was completely inertially guided, i.e., no GPS or ground-based navigation. The high precision IMU + gyro send the comput

The fascinating thing is that the Titan was completely inertially guided, i.e., no GPS or ground-based navigation. The high precision IMU + gyro send the computer acceleration and angular velocity and you integrate that over time to figure out where you are now. I'd think this would be very challenging and error-prone for inter-continental travel especially when the thing is planning to detonate nuclear war head. I wonder what algorithms they used. Typical code to do dead reckoning from IMU+gyro is fairly short but drifts usually is huge killer.