I think the position error will still be unbounded over time with this approach. What it does give you is sharply bounded velocity error, which in turn makes po

I think the position error will still be unbounded over time with this approach. What it does give you is sharply bounded velocity error, which in turn makes position error grow much more slowly. It’s basically dead reckoning as you’d see in a car (where you always know your speed pretty accurately) versus in a plane (where speed is an output of the dead reckoning process as well as an input).