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; adjusting a covariance matrix including covariance data for each of the plurality of types of sensor data based on an uncertainty for at least one of the plurality of preliminary estimates, wherein the uncertainty varies based on at least one of: time, distance, or velocity of the platform; and generating the plurality of estimates using the plurality of preliminary estimates and the covariance matrix, wherein the covariance matrix is applied to each of the plurality of estimates to adjust an emphasis each of the plurality of preliminary estimates has on the corresponding estimate.