1. A method comprising: a computer system periodically calculating a plurality of estimates corresponding to a pose of a platform, wherein the periodically calculating includes: for each of a plurality of types of sensor data, independently calculating at least one of a plurality of preliminary estimates based on the sensor data corresponding to the type of sensor data; and generating the plurality of estimates using the plurality of preliminary estimates and at least one covariance matrix, wherein the at least one covariance matrix is adjusted based an uncertainty for at least one of the preliminary estimates that varies based on at least one of: time, distance, or velocity of the platform.