Accurate navigation in GPS denied locations is extremely hard to achieve. Inertial Navigation Systems (INS) are currently the only reasonable onboard alternative to GPS but INS has error terms that grow very quickly. Even current high-end INSs have an error exceeding one km after only ten minutes of use. A high-accuracy INS would be very useful in underwater applications, spacecraft and extraterrestrial rovers, and military applications. This thesis seeks to enable such Inertial Navigation Systems
