1. A method of tracking position, velocity and orientation of an article at a time T between time T 0 and time T 1 , comprising: at the time T 0 : measuring the acceleration (A 0 ) of the article using a plurality of accelerometers mounted on the article; measuring the rotational velocity (R 0 ) of the article using a plurality of gyroscopes mounted on the article; measuring the position (P 0 ), velocity (V 0 ), and orientation (O 0 ) of the article; and extrapolating the position and orientation of the article based on A 0 , R 0 , P 0 , V 0 , and O 0 define a first estimate of the position and orientation of the article at the time T; and at the time T 1 : measuring the acceleration (A 1 ) of the article using the plurality of accelerometers; measuring the rotational velocity (R 1 ) the article using the plurality of gyroscopes; linearly interpolating from R 0 to R 1 to determine the rotational velocity of the article at the time T; linearly interpolating from A 0 to A 1 to determine the acceleration of the article at the time T; and determining a second corrected estimate of the position and the orientation of the article at the time T based on the linearly interpolated rotational velocity and linearly interpolated acceleration, wherein the second corrected estimate is used to correct the first estimate.