ROBUST ODOMETRY ARCHITECTURE AND METHODOLOGY

A vehicle includes a plurality of sensors and one or more controllers collectively programmed to execute the following instructions: estimate odometry of the vehicle based on sensor data from the plurality of sensors, to produce a plurality of odometry estimates; monitor integrity of one or more of the sensors; correct sensor data from one or more of the plurality of sensors to provide corrected sensor data; compensate the corrected sensor data to provide compensated data; and use the compensated data to provide at least one of vehicle odometry, vehicle states, and time stamp information.