A system includes one or more processors, and data storage configured to store instructions that, when executed by the one or more processors, cause the system to perform functions. In this example, the functions include receiving sensor data that is collected by one or more sensors of a device over one or more locations and over a time period. Further, in the present example, the functions also include determining location estimates of the device by performing filtering of the sensor data to determine offsets for a least one sensor providing sensor data. The filtering is an iterative process of filtering control input data to determine the sensor bias based on data from a second sensor of the at least two sensors and adjusting the set of sensor data based on the determined bias.