 Another aspect is the accurate control of the gyroscope's rotational rate.Missiles using PIGAs were the Polaris, Titan, Redstone, Jupiter, Saturn Series and MX Peacekeeper.The PIGA was based on an accelerometer developed by Dr. Fritz Mueller, then of the Kreiselgeraete Company, for the LEV-3 and experimental SG-66 guidance system of the Nazi era German V2 (EMW A4) ballistic missile and was known among the German rocket scientists as the MMIA "Mueller Mechanical Integrating Accelerometer".