Time-of-day tracking with INS input is described. In one embodiment, a range rate and a range acceleration is generated from inertial navigation system data received from a moveable platform (e.g. an airborne platform). A time and frequency estimation filter receives the range rate, the range acceleration and a timing-based error signal from a time discriminator, and can then generate a time-of-day correction signal and a frequency correction signal. A time-of-day generator receives the time-of-day correction signal and generates a time-of-day correction, and a clock frequency generator receives the frequency correction signal and generates a frequency correction. The time discriminator receives a satellite synchronization signal from a satellite, the time-of-day correction from the time-of-day generator, and the frequency correction from the clock frequency generator. The time discriminator initially generates the timing-based error signal from the satellite synchronization signal, and subsequently generates the timing-based error signal from the time-of-day correction and the frequency correction to synchronize the satellite with the moveable platform.