Event detection on far edge mobile devices using delayed positioning data

A non-transitory storage medium having stored therein instructions that are executable by one or more hardware processors to perform operations comprising:

• generating sensor data at a node in an environment, the sensor data including at least inertial data;
• receiving delayed position data from a near edge node, wherein the near edge node generates the delayed position data from a raw position data;
• determining a predicted position of the node based on the sensor data and the delayed position data using a position engine, wherein the position engine determines the predicted position using a dead reckoning method when a ground truth position is known and an elapsed time from moving from the ground truth position is less than a threshold value and/or a position model configured to predict the predicted position;
• generating aligned data that includes the predicted position and the sensor data;
• and
• detecting an event based on the aligned data with an event detection model.