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The feedback realization of the continuous time multivariate optimal filter is reviewed and amplified as it pertains to the continuous augmentation of inertial systems. Comparatively simple examples are given of its application to the velocity and position damping of the Schuler loop. The solution of the more extensive problem of velocity or position damping a complete inertial system is outlined. The difficulties encountered when the noise contaminating the augmentation is not simple are illustrated through the application to the rapid on ground alignment problem.