1. A method comprising: holding a mobile platform stationary while taking an image of an object with a camera in the mobile platform, the mobile platform having an inertial navigation system including inertial sensors, wherein an orientation between the inertial sensors and the camera is known; obtaining position and orientation information of the object in a global reference frame; estimating a position and orientation of the camera relative to the object from the image of the object; determining the camera position and orientation in the global reference frame from the estimated position and orientation of the camera relative to the object and the obtained position and orientation of the object in the global reference frame; determining a transformation matrix between a navigation coordinate frame and an inertial sensor reference frame for the inertial navigation system using the determined camera position and orientation in the global reference frame and the orientation between the inertial sensors and the camera; setting the velocity of the inertial navigation system to zero; setting the position of the inertial navigation system to the estimated position of the camera in the global reference frame; setting the transformation matrix between the navigation coordinate frame and the inertial sensor reference frame to the determined transformation matrix between the navigation coordinate frame and the inertial sensor reference frame; using measurements from the inertial sensors, the set transformation matrix, the set velocity and the set position of the inertial navigation system to update the inertial navigation system position, velocity, and orientation; and providing the updated estimate of the position of the inertial navigation system as a position of the mobile platform.