On the construction of Fermi-Walker transported frames
  We consider tetrad fields as reference frames adapted to observers that move along arbitrary timelike trajectories in spacetime. By means of a local Lorentz transformation we can transform these frames into Fermi-Walker transported frames, which define a standard of non-rotation for accelerated observers. Here we present a simple prescription for the construction of Fermi-Walker transported frames out of an arbitrary set of tetrad fields. 
J. W. Maluf and F. F. Faria