The book describes the basics of calculating and designing differentiating, integrating gyroscopes and accelerometers and analyzes their errors in various operating modes. Simple calculation formulas are given to determine the main parameters of these devices, as well as their instrumental and methodological errors. Depending on the purpose of the device, requirements for static, dynamic and accuracy characteristics are indicated. Much attention is paid to the description of the physical essence and the reasons for the appearance of the considered errors.