Real-time GPS measurement lag compensation for vehicle state estimates

A control system for a vehicle, the control system comprising:

• at least one parameter module configured to receive at least one sensor signal from at least one sensor and generate at least one parameter signal;
• a measurement comparison module configured to receive a measurement signal from a global position system receiver and the at least one parameter signal, and based on the measurement signal and the at least one parameter signal, determine delay in the measurement signal and generate a delay signal indicative of the delay,
• wherein the measurement comparison module comprises
• a kinematic velocity estimation module configured to generate an enable signal and a velocity signal based on a plurality of parameters, the velocity signal being indicative of an estimated velocity of the vehicle;
• and
• a global positioning system delay determination module is configured to determine the delay based on the enable signal and the estimated velocity;
• and
• at least one parameter consuming and control module configured to controlling at least one operation of the vehicle based on the delay.