A vehicle includes a vehicle platform, an antenna, and an antenna positioner configured to position the antenna relative to the vehicle platform. An inertial navigation system (INS) is associated with the vehicle platform and configured to generate INS output data. An inertial measurement unit (IMU) is associated with the antenna positioner and configured to generate IMU output data having a timing latency difference relative to the INS output data. A controller may be configured to control the antenna positioner based upon the INS output data and the IMU output data adjusted for the timing latency therebetween.