Abstract: An inertial sensor arrangement comprises two electrically restrained gyros with three mutually orthogonal input axes. After A/D-conversion pick-off signals are supplied to a digital computer which forms part of the restraining loop of the gyros and provides digital output signals. The output signals are applied to a D/A-converter which supplies corresponding currents to the torquer of the gyros. Thereby integrating quantization errors are avoided. The cross-coupling behavior and gyro errors can be compensated in the computer. The inertial sensor arrangement can be measured as an entirety. The gyro parameters measured thereby are memorized in an EEPROM and are taken into account in the computer.