diff --git a/src/shared/units/Acceleration.h b/src/shared/units/Acceleration.h
new file mode 100644
index 0000000000000000000000000000000000000000..eac700e5a2d1fd112470338a01b9276b7646e7dc
--- /dev/null
+++ b/src/shared/units/Acceleration.h
@@ -0,0 +1,66 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ratio>
+
+#include "Units.h"
+
+namespace Boardcore
+{
+namespace Units
+{
+namespace Acceleration
+{
+
+template <class Ratio = std::ratio<1>>
+using Acceleration = Unit<UnitKind::Acceleration, Ratio>;
+
+template <class ToAcceleration, class FromAcceleration>
+ToAcceleration acceleration_cast(FromAcceleration const &from)
+{
+    return ToAcceleration(from);
+}
+
+using MeterPerSecondSquared = Acceleration<>;  // Acceleration in m/s^2
+using G = Acceleration<std::ratio<981, 100>>;  // Acceleration in Gs
+
+// Floats
+constexpr auto operator""_mps2(long double n)
+{
+    return MeterPerSecondSquared(static_cast<float>(n));
+};
+constexpr auto operator""_g(long double n) { return G(static_cast<float>(n)); };
+// Integers
+constexpr auto operator""_mps2(unsigned long long n)
+{
+    return MeterPerSecondSquared(static_cast<float>(n));
+};
+constexpr auto operator""_g(unsigned long long n)
+{
+    return G(static_cast<float>(n));
+};
+
+}  // namespace Acceleration
+}  // namespace Units
+}  // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/units/Angle.h b/src/shared/units/Angle.h
index dbc26b1fcd6a7adcb1bab318ad91543fb413f897..6a1c8eef1ea6843dcc72f7d75a730b6211d62ef9 100644
--- a/src/shared/units/Angle.h
+++ b/src/shared/units/Angle.h
@@ -36,20 +36,35 @@ namespace Angle
 template <class Ratio = std::ratio<1>>
 using Angle = Unit<UnitKind::Angle, Ratio>;
 
+template <class ToAngle, class FromAngle>
+ToAngle angle_cast(FromAngle const &from)
+{
+    return ToAngle(from);
+}
+
 using Degree = Angle<>;  // Angle in degrees
 using Radian =           // Angle in radians
     Angle<
         std::ratio<static_cast<std::intmax_t>(180 * 1e10),
                    static_cast<std::intmax_t>(3.14159265358979323846 * 1e10)>>;
-
-auto operator""_rad(long double n) { return Radian(static_cast<float>(n)); };
-auto operator""_deg(long double n) { return Degree(static_cast<float>(n)); };
-
-template <class ToAngle, class FromAngle>
-ToAngle angle_cast(FromAngle const &from)
+// Floats
+constexpr auto operator""_rad(long double n)
 {
-    return ToAngle(from);
-}
+    return Radian(static_cast<float>(n));
+};
+constexpr auto operator""_deg(long double n)
+{
+    return Degree(static_cast<float>(n));
+};
+// Integers
+constexpr auto operator""_rad(unsigned long long n)
+{
+    return Radian(static_cast<float>(n));
+};
+constexpr auto operator""_deg(unsigned long long n)
+{
+    return Degree(static_cast<float>(n));
+};
 
 }  // namespace Angle
 }  // namespace Units
diff --git a/src/shared/units/Length.h b/src/shared/units/Length.h
index 6afec19cc16310bb09bbfe2437437a9d85fdbcdc..cb6f024c5199900b5674d061f14f660100d87c85 100644
--- a/src/shared/units/Length.h
+++ b/src/shared/units/Length.h
@@ -48,11 +48,48 @@ using Decimeter  = Length<std::deci>;   // Length in decimeters
 using Meter      = Length<>;            // Length in meters
 using Kilometer  = Length<std::kilo>;   // Length in kilometers
 
-auto operator""_mm(long double n) { return Millimeter(static_cast<float>(n)); };
-auto operator""_cm(long double n) { return Centimeter(static_cast<float>(n)); };
-auto operator""_dm(long double n) { return Decimeter(static_cast<float>(n)); };
-auto operator""_m(long double n) { return Meter(static_cast<float>(n)); };
-auto operator""_km(long double n) { return Kilometer(static_cast<float>(n)); };
+// Floats
+constexpr auto operator""_mm(long double n)
+{
+    return Millimeter(static_cast<float>(n));
+};
+constexpr auto operator""_cm(long double n)
+{
+    return Centimeter(static_cast<float>(n));
+};
+constexpr auto operator""_dm(long double n)
+{
+    return Decimeter(static_cast<float>(n));
+};
+constexpr auto operator""_m(long double n)
+{
+    return Meter(static_cast<float>(n));
+};
+constexpr auto operator""_km(long double n)
+{
+    return Kilometer(static_cast<float>(n));
+};
+// Integers
+constexpr auto operator""_mm(unsigned long long n)
+{
+    return Millimeter(static_cast<float>(n));
+};
+constexpr auto operator""_cm(unsigned long long n)
+{
+    return Centimeter(static_cast<float>(n));
+};
+constexpr auto operator""_dm(unsigned long long n)
+{
+    return Decimeter(static_cast<float>(n));
+};
+constexpr auto operator""_m(unsigned long long n)
+{
+    return Meter(static_cast<float>(n));
+};
+constexpr auto operator""_km(unsigned long long n)
+{
+    return Kilometer(static_cast<float>(n));
+};
 
 }  // namespace Length
 }  // namespace Units
diff --git a/src/shared/units/Pressure.h b/src/shared/units/Pressure.h
index ac65bf249227a4b5f29927fc8fc238377a036313..30dc96bb0868948bfbfeffa223101646c752c149 100644
--- a/src/shared/units/Pressure.h
+++ b/src/shared/units/Pressure.h
@@ -46,9 +46,32 @@ using Pascal = Pressure<>;                    // Pressure in Pascals
 using Bar    = Pressure<std::ratio<100000>>;  // Pressure in Bars
 using Atm    = Pressure<std::ratio<101325>>;  // Pressure in Atmospheres
 
-auto operator""_pa(long double n) { return Pascal(static_cast<float>(n)); };
-auto operator""_bar(long double n) { return Bar(static_cast<float>(n)); };
-auto operator""_atm(long double n) { return Atm(static_cast<float>(n)); };
+// Floats
+constexpr auto operator""_pa(long double n)
+{
+    return Pascal(static_cast<float>(n));
+};
+constexpr auto operator""_bar(long double n)
+{
+    return Bar(static_cast<float>(n));
+};
+constexpr auto operator""_atm(long double n)
+{
+    return Atm(static_cast<float>(n));
+};
+// Integers
+constexpr auto operator""_pa(unsigned long long n)
+{
+    return Pascal(static_cast<float>(n));
+};
+constexpr auto operator""_bar(unsigned long long n)
+{
+    return Bar(static_cast<float>(n));
+};
+constexpr auto operator""_atm(unsigned long long n)
+{
+    return Atm(static_cast<float>(n));
+};
 
 }  // namespace Pressure
 }  // namespace Units
diff --git a/src/shared/units/Speed.h b/src/shared/units/Speed.h
new file mode 100644
index 0000000000000000000000000000000000000000..051d90e074b4b5d80f7ba42408c85c442256d536
--- /dev/null
+++ b/src/shared/units/Speed.h
@@ -0,0 +1,70 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ratio>
+
+#include "Units.h"
+
+namespace Boardcore
+{
+namespace Units
+{
+namespace Speed
+{
+
+template <class Ratio = std::ratio<1>>
+using Speed = Unit<UnitKind::Speed, Ratio>;
+
+template <class ToSpeed, class FromSpeed>
+ToSpeed speed_cast(FromSpeed const &from)
+{
+    return ToSpeed(from);
+}
+
+using MeterPerSecond = Speed<>;  // Speed in meters per second
+using KilometerPerHour =
+    Speed<std::ratio<1000, 3600>>;  // Speed in kilometers per hour
+
+// Floats
+constexpr auto operator""_mps(long double n)
+{
+    return MeterPerSecond(static_cast<float>(n));
+};
+constexpr auto operator""_kmh(long double n)
+{
+    return KilometerPerHour(static_cast<float>(n));
+};
+// Integers
+constexpr auto operator""_mps(unsigned long long n)
+{
+    return MeterPerSecond(static_cast<float>(n));
+};
+constexpr auto operator""_kmh(unsigned long long n)
+{
+    return KilometerPerHour(static_cast<float>(n));
+};
+
+}  // namespace Speed
+}  // namespace Units
+}  // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/units/Time.h b/src/shared/units/Time.h
index 41c7bb44b5ef4436305530b044a7784b8ca100cf..155fef4d969b0d13135eada8b46105c92fdb46ee 100644
--- a/src/shared/units/Time.h
+++ b/src/shared/units/Time.h
@@ -35,16 +35,7 @@ namespace Time
 {
 
 template <class Ratio = std::ratio<1>>
-class Time : public Unit<UnitKind::Time, Ratio>
-{
-    using Unit<UnitKind::Time, Ratio>::Unit;
-
-public:
-    std::chrono::duration<float> chrono() const
-    {
-        return std::chrono::duration<float, Ratio>(this->value());
-    }
-};
+using Time = Unit<UnitKind::Time, Ratio>;
 
 template <class ToTime, class FromTime>
 ToTime time_cast(FromTime const &from)
@@ -52,33 +43,68 @@ ToTime time_cast(FromTime const &from)
     return ToTime(from);
 }
 
+std::chrono::duration<float> to_chrono(Time<> const &from)
+{
+    return std::chrono::duration<float>(from.value());
+}
+
 using Nanosecond  = Time<std::ratio<1, 1000000000>>;  // Time in nanoseconds
 using Microsecond = Time<std::ratio<1, 1000000>>;     // Time in microseconds
 using Millisecond = Time<std::ratio<1, 1000>>;        // Time in milliseconds
 using Second      = Time<>;                           // Time in seconds
 using Minute      = Time<std::ratio<60>>;             // Time in minutes
 using Hour        = Time<std::ratio<3600>>;           // Time in hours
-using Day         = Time<std::ratio<86400>>;          // Time in days
-using Week        = Time<std::ratio<604800>>;         // Time in weeks
-using Month       = Time<std::ratio<2628000>>;        // Time in months
-using Year        = Time<std::ratio<31536000>>;       // Time in years
 
-auto operator""_ns(long double n) { return Nanosecond(static_cast<float>(n)); };
-auto operator""_us(long double n)
+// Floats
+constexpr auto operator""_ns(long double n)
+{
+    return Nanosecond(static_cast<float>(n));
+};
+constexpr auto operator""_us(long double n)
+{
+    return Microsecond(static_cast<float>(n));
+};
+constexpr auto operator""_ms(long double n)
+{
+    return Millisecond(static_cast<float>(n));
+};
+constexpr auto operator""_s(long double n)
+{
+    return Second(static_cast<float>(n));
+};
+constexpr auto operator""_min(long double n)
+{
+    return Minute(static_cast<float>(n));
+};
+constexpr auto operator""_h(long double n)
+{
+    return Hour(static_cast<float>(n));
+};
+// Integers
+constexpr auto operator""_ns(unsigned long long n)
+{
+    return Nanosecond(static_cast<float>(n));
+};
+constexpr auto operator""_us(unsigned long long n)
 {
     return Microsecond(static_cast<float>(n));
 };
-auto operator""_ms(long double n)
+constexpr auto operator""_ms(unsigned long long n)
 {
     return Millisecond(static_cast<float>(n));
 };
-auto operator""_s(long double n) { return Second(static_cast<float>(n)); };
-auto operator""_min(long double n) { return Minute(static_cast<float>(n)); };
-auto operator""_h(long double n) { return Hour(static_cast<float>(n)); };
-auto operator""_d(long double n) { return Day(static_cast<float>(n)); };
-auto operator""_w(long double n) { return Week(static_cast<float>(n)); };
-auto operator""_mo(long double n) { return Month(static_cast<float>(n)); };
-auto operator""_y(long double n) { return Year(static_cast<float>(n)); };
+constexpr auto operator""_s(unsigned long long n)
+{
+    return Second(static_cast<float>(n));
+};
+constexpr auto operator""_min(unsigned long long n)
+{
+    return Minute(static_cast<float>(n));
+};
+constexpr auto operator""_h(unsigned long long n)
+{
+    return Hour(static_cast<float>(n));
+};
 
 }  // namespace Time
 }  // namespace Units
diff --git a/src/shared/units/Units.h b/src/shared/units/Units.h
index 64e37e9e8ef3b4f68d0f539190bece5f77351b17..6e59cbcd052c0cf7835dafe233871f686542b8b7 100644
--- a/src/shared/units/Units.h
+++ b/src/shared/units/Units.h
@@ -37,7 +37,9 @@ enum class UnitKind
     Angle,
     Length,
     Pressure,
-    Time
+    Time,
+    Speed,
+    Acceleration,
 };
 
 // Base class to implement custom measurement units logic.
@@ -45,7 +47,8 @@ template <UnitKind Kind, class Ratio = std::ratio<1>>
 class Unit
 {
 public:
-    Unit(float val) : _value(val){};
+    constexpr explicit Unit(float val) : _value(val) {}
+
     template <UnitKind FromKind, class FromRatio>
     constexpr explicit Unit(Unit<FromKind, FromRatio> const &from)
         : _value(from.template value<Ratio>())
@@ -54,7 +57,7 @@ public:
 
     // Get the value of the unit in the specified ratio.
     template <class TargetRatio = Ratio>
-    float value() const
+    constexpr float value() const
     {
         constexpr auto currentRatio =
             static_cast<float>(Ratio::num) / static_cast<float>(Ratio::den);
diff --git a/src/tests/catch/test-units.cpp b/src/tests/catch/test-units.cpp
index 66e1048abf23af72b1d449368d5a250653a22319..4bc4025bdcf51d43408a829af9530638e7dd318f 100644
--- a/src/tests/catch/test-units.cpp
+++ b/src/tests/catch/test-units.cpp
@@ -20,9 +20,11 @@
  * THE SOFTWARE.
  */
 
+#include <units/Acceleration.h>
 #include <units/Angle.h>
 #include <units/Length.h>
 #include <units/Pressure.h>
+#include <units/Speed.h>
 #include <units/Time.h>
 #include <utils/Debug.h>
 
@@ -45,6 +47,10 @@ TEST_CASE("Units Test")
     using namespace Units::Length;
     using namespace Units::Pressure;
     using namespace Units::Time;
+    using namespace Units::Speed;
+    using namespace Units::Acceleration;
+
+    Meter len = 1_m;
 
     // Verify ratios
     REQUIRE(Radian(PI) == angle_cast<Radian>(Degree(180)));
@@ -62,10 +68,12 @@ TEST_CASE("Units Test")
     REQUIRE(Millisecond(1000) == time_cast<Millisecond>(Second(1)));
     REQUIRE(Minute(1) == time_cast<Minute>(Second(60)));
     REQUIRE(Hour(1) == time_cast<Hour>(Second(3600)));
-    REQUIRE(Day(1) == time_cast<Day>(Second(86400)));
-    REQUIRE(Week(1) == time_cast<Week>(Second(604800)));
-    REQUIRE(Month(1) == time_cast<Month>(Second(2628000)));
-    REQUIRE(Year(1) == time_cast<Year>(Second(31536000)));
+
+    REQUIRE(MeterPerSecond(1) ==
+            speed_cast<MeterPerSecond>(KilometerPerHour(3.6)));
+
+    REQUIRE(MeterPerSecondSquared(9.81) ==
+            acceleration_cast<MeterPerSecondSquared>(G(1)));
 
     // Test operators
     REQUIRE(eq(Radian(2 * PI), Radian(PI) + Radian(PI)));