A method of calibrating acceleration data signals from a set of accelerometers (115A, 115B, 115C) and angular rate data signals from a set of gyroscopes(120A, 120B, 120C) within a combined GPS/IGS includes generating navigation data as a function of the acceleration data signals, the angular rate data signals, and prior navigation data. The method further includes combining the navigation data with GPS data via a Kalman filter (155), so as to produce corrected navigation data, navigation correction data, acceleration correction data and angular rate correction data. The method further includes modifying the acceleration data signals as a function of the acceleration correction data so as to calibrate the acceleration data signals, and modifying the angular rate data signals as a function of the angular rate correction data, so as to calibrate the angular data signals.
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