1. A method of determining an inertial quantity of a single physical system with linear, non-linear, Gaussian, or non-Gaussian characteristics or combinations thereof, the method comprising: associating a plurality of angular rate sensor devices with a substrate of the single physical system; acquiring inertial sensor data from the plurality of angular rate sensor devices; utilizing a computing device for processing the inertial sensor data by application of a Monte Carlo estimation-based inference system configured to produce estimates in systems with linear, non-linear, Gaussian, and non-Gaussian characteristics, wherein the computing device produces a virtual connection between at least two of the plurality of angular rate sensor devices, resulting in a virtual sensor output value, the virtual sensor output value being of a degree of accuracy exceeding that which would otherwise be attributable to one of the single angular rate sensor devices; and utilizing the virtual sensor output value as at least part of a tangible indication of the inertial quantity.