Yes, it can do feet and yards (and metrics).
If you're not very familiar with vector graphics, you'll need to make sure the PDF contains vector graphics. The PDF format can contain both raster and vector contents. And if the PDF is all raster, Inkscape won't be able to do much with it. It sounds like it must already be vector contents, but it would be better to make sure before you start.
Open the PDF in Inkscape. Likely everything will be grouped. If you try to select one thing, and it selects everything, click Object menu > Ungroup, until the status bar says "No groups to ungroup". After that, select some objects (one at a time) and look at the status bar. If anything says "Image" it means that part is raster graphics.
It sounds like you'll need basic path tools. I would suggest to start with Help menu > Tutorials > Basic, Shapes, and Advanced. Don't worry, the one named advanced is really an introduction to the path features that you need. (I don't know why they named an introductory tutorial "advanced"
) Then maybe try this one, to bring it all together:
http://tavmjong.free.fr/INKSCAPE/MANUAL/html/AShortExampleLogo.htmlThere are also tons of tutorials on the Home tab of this website (organized by skill level) if you want more. Also, a lot of Inkscape is fairly intuitive, so you can go a long way on your own.
And of course if you get stuck, we're here