While there is no preferred reference frame for motion, rotation is straightforward. A reference frame that experiences no pseudo forces such as centrifugal force is not rotating. A better practical reference is to simply look at distant stars, for all purposes they appear stationary.
So because you have a handle on rotations, its very straightforward to count that it takes a day for Earth to do a trip around it’s own axis of rotation and a year for Earth to do a full trip around the Sun. Knowing the orbital radius of Earth is 1AU, it’s easy to calculate that Earth’s linear speed around Sun is pi*2 AU/year or about 30km/s
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