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Two adaptively combined gyro and triaxial accelerometer arrays of commercial-grade Micro Electro-Mechanical Systems (MEMS) inertial sensors and a real-time embedded algorithm suite significantly enhance accuracy over that of single commercial-grade devices. Denoised sensor data is combined with a Kalman-filter bias compensation algorithm to achieve better than 0.1 degree/hour in-run gyro bias stability (standard deviation). One denoise-filtered triaxial accelerometer sensor array provides better than 30µg accelerometer bias stability. The hardware is embedded in an exoskeleton that maintains accurate fine alignment adjustments and provides protection when in rugged environments. Analysis of results measured from Allan variance computations of real-time data from several different IMU hardware units demonstrates that each of three orthogonally positioned precision gyro arrays, and their associated processing, achieve less than 0.03 deg integrated angle drift over 5 hours. New IMU hardware is now in fabrication for delivery in early 2010, when received, we expect to overcome the limits of the present hardware design to produce additional significant improvements. The size, weight, and power of these new IMU's are suitable for man-portable, hand-held systems, UAVs, and munitions systems. Early work for this technology was first published at ION/PLANS 2008.