1. A micro-electro-mechanical system (MEMS) inertial measurement apparatus for measuring apparatus dynamics, comprising: at least two MEMS inertial sensors, the sensors having different measurement ranges; a multiplexer that receives measurement signals from the at least two MEMS inertial sensors and provides one of the sensor's measurement signals according to an adaptive sensor choice; a signal conditioning module that receives the measurement signal provided by the multiplexer, and provides a conditioned measurement signal; an analog to digital converter that receives the conditioned measurement signal from the signal conditioning module, and outputs a conditioned digital measurement signal; and a digital signal processing unit that processes the conditioned digital measurement signal, and outputs the adaptive sensor choice to the multiplexer to control the determination of which sensor's measurement signals the multiplexer outputs according to the apparatus dynamics.