1. An inertial navigation system, comprising: a navigation component; a processor in communication with the navigation component; and a filter embedded in computer code implemented within the processor, wherein the filter comprises a model of the navigation component, and one or more parameters of the model are configured after startup of the inertial navigation system based upon performance characteristics of the navigation component included in the inertial navigation system, the performance characteristics comprising data measured during a calibration procedure; wherein the performance characteristics comprise one or more of gyroscope bias offsets, accelerometer bias offsets, scale factor offsets, g sensitivity, sensor misalignment, or non-orthogonality.