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Internal guidance was the brainchild of Charles ( Doc) Draper who came up with idea of using gyros and accelerometers to determine the exact location and position relative to the ground of a moving object in flight in the late 40’s and early 1950’s
He designed and installed the first usable inertial guidance system in a old B52 aircraft which flew from Massachusetts to Los Angeles in 1953 without a pilot in control to navigate. The aircraft navigated itself via the IGS perfectly across the US which paved the way for further development in the newly formed Draper Lab and ultimately with Apollo to the Moon
A bit of history about the inertial guidance system
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