I had 2 tricks - really high-order filter borrowed from some paper and the assumption that a walking human doesn't gain constant acceleration. Even in an elevat

I had 2 tricks - really high-order filter borrowed from some paper and the assumption that a walking human doesn't gain constant acceleration. Even in an elevator you stop on a floor which resets your speed to 0. I agree that there is no way you could extend this directly for flying, but with modern devices and things like ground-distance radar, relative airspeed indicators and so on I don't think it is beyond the realm of possibility. Plus we have detailed hightmap of the world, which, when combined with a radar should allow for terrain tracking. That makes the accuracy of sole INS much less crucial.