A method of determining a position of a signal emitter with respect to a platform having a rigid portion and a flexing portion (112.1, 112.2), implemented by one or more processors, comprising: receiving inertial navigation data corresponding to the platform; detecting a signal from the signal emitter at a plurality of signal detectors (304.1-304.4) in an array of detectors positioned on the platform, wherein a first subset of the detectors (304.3, 304.4) are positioned on the flexing portion and a second subset of detectors (304.1, 304.2) are positioned on the rigid portion; receiving inertial measurement information from a respective inertial measurement unit 'IMU' (308.1, 308.2) adjacent to each one of the detectors positioned on the flexing portion; calculating , as a function of the received inertial measurement data, a respective velocity and a respective position of each one of the detectors positioned on the flexing portion; and determining , using a filter (608.1, 608.2), the position of the emitter as a calculated function of the calculated velocities, the calculated positions, the received inertial navigation data, the emitter signals received at each of the detectors in the array, and data defining a flexure relationship between the flexing and rigid portions of the platform; wherein determining the emitter position further comprises nulling flexure motion measurements from the calculations by a filtering operation of the filter (608.1, 608.2) having notches set to vibrational modes defined in the flexure relationship data, whereby the flexure motion measurements are separated from a computed residual used in the filtering operation to generate a correction. receiving inertial navigation data corresponding to the platform; detecting a signal from the signal emitter at a plurality of signal detectors (304.1-304.4) in an array of detectors positioned on the platform, wherein a first subset of the detectors (304.3, 304.4) are positioned on the flexing portion and a second subset of detectors (304.1, 304.2) are positioned on the rigid portion; receiving inertial measurement information from a respective inertial measurement unit 'IMU' (308.1, 308.2) adjacent to each one of the detectors positioned on the flexing portion; calculating , as a function of the received inertial measurement data, a respective velocity and a respective position of each one of the detectors positioned on the flexing portion; and determining , using a filter (608.1, 608.2), the position of the emitter as a calculated function of the calculated velocities, the calculated positions, the received inertial navigation data, the emitter signals received at each of the detectors in the array, and data defining a flexure relationship between the flexing and rigid portions of the platform; wherein determining the emitter position further comprises nulling flexure motion measurements from the calculations by a filtering operation of the filter (608.1, 608.2) having notches set to vibrational modes defined in the flexure relationship data, whereby the flexure motion measurements are separated from a computed residual used in the filtering operation to generate a correction. <EOS>