Patent ID: 7739045

Claim:
A method comprising: executing real-time navigation software on real-time inertial data to generate real-time navigation data; executing real-time Kalman filter software on the real-time navigation data and real-time aiding data; recording the real-time inertial data and the real-time aiding data as real-time input data in a buffer; initializing a playback process; executing playback navigation software on buffered inertial data to generate playback navigation data; and executing playback Kalman filter software on the playback navigation data and buffered aiding data, wherein the execution of the real-time navigation software and the real-time Kalman filter software effect a real-time alignment process, and wherein the playback navigation software and the playback Kalman filter software effect an alignment process executed at a faster rate than the real-time navigation software and real-time Kalman filter software.