SYSTEM AND METHOD FOR ENHANCING NON-INERTIAL TRACKING SYSTEM WITH INERTIAL CONSTRAINTS

A system and method for generating a. tracking state for a device includes synchronizing measurement data from exteroceptive sensors and an inertial measurement unit (IMU). A processing unit is programmed to offset one of the measurement signals by a time offset that minimizes a total error between a change in rotation of the device predicted by the exteroceptive sensor data over a time interval defined by an exteroceptive sensor sampling rate and a change in rotation of the device predicted by the IMU sensor data over the time interval.