You may already be aware fo the following:
CSM manufacture piezo gyros for use in model aircraft and helicopters - there are two versions -a simple 'rate' gyro and a "HLG" (heading lock) which combines yaw rate sensing with the heading 'lock' facility which is mainly intended to stabilise the yaw of r/c helicopters. Presumably they will have the same effect on the other axes if mounted appropriately.
I have seen an i.r. 'trainer' system which can be used to recover a model to an upright attitude (not sure of the accuracy etc)
Lastly, there is a range of telemetry equipment available for r/c aircraft which can record such parameters as airspeed, altitude, vertical acceleration etc. the manufacturer's name escapes me at the moment, but there have been a series of articles in 'Radio Control Models and Electronics' or RCM&E within the last 6 months or so.
Btw, which uni are you at?
Tim