The method and apparatus for tracking a center of gravity (COG) of an air vehicle provides a precise calculation and updating of the COG by disposing a plurality of acceleration measuring devices on a circumference of one or more rings in a manner that establishes redundancy in acceleration measurement. A multivariable time-space adaptive technique is provided within a high speed digital signal processor (DSP) to calculate and update the position of the COG. The system provides the capability of executing a procedure that reduces dispersion in estimating angular velocities and lateral accelerations of a moving vehicle and corrects the vehicle's estimated angular velocities and lateral accelerations. In addition, a consistency check of the measured values from the acceleration measuring devices is performed to assist in fault detection and isolation of a faulty accelerometer in the system.