An inertial sensing system includes a diamagnetic mass, a plurality of permanent magnets positioned to form a curved base, wherein the plurality of permanent magnets are configured to provide an inhomogeneous magnetic field upon which the diamagnetic mass becomes levitated above the plurality of permanent magnets within the curved base and wherein the curved base also provides a confinement potential to substantially prevent the diamagnetic mass from exiting an interior of the curved base, and a tracking apparatus for monitoring at least one of a position and an orientation of the diamagnetic mass with respect to the curved structure.