In one embodiment, a method for calculating a location of an autonomous driving vehicle includes receiving new global navigation satellite system (GNSS) data. The method further includes identifying a first previously estimated location from a plurality of previously estimated locations with a timestamp that is closest to the timestamp of the new GNSS data and identifying a second previously estimated location from the plurality of previously estimated locations with a most recent timestamp. The method further includes calculating a difference between the first previously estimated location and the second previously estimated location, adjusting the new GNSS data based on the difference; and calculating a current estimated location of the ADV based on the adjusted GNSS data.