Some good sensors are the the NEC/tokin CG-16D which are fairly old now but still a good rate sensor suited for this type of operation, you could use three of these for angular rate sensing of roll, pitch and yaw. Also if you require to measure linear rates, such as vertical acceleration some good sensors are by by Analogue Devices model number ADXL202E. these are dual axis.
you may want to ampilfy and filter the outputs