A gravimeter is disclosed that comprises a base, a reference device coupled to the base and configured to move along a first axis, a falling device configured to free fall from a first position to a second position on a second axis that is parallel to the first axis, a measurement module coupled to the reference device and configured to provide a first signal of the displacement of the reference device relative to the base and provide a second signal of the displacement of the falling device relative to the reference device. A processing unit accepts the first and second signals and computes a displacement of the falling device in inertial space by processing the first and second signals and subtracting the processed first signal from the processed second signal.