# Principal Engineer, State Estimation (R4602)

**Company:** [Shield AI](https://hotfix.jobs/companies/shield-ai)
**Location:** San Diego, CA, Dallas, TX, Boston, MA, Washington, DC
**Role:** Embedded Engineering
**Salary:** $270k – $400k/yr
**Experience:** 15+ years
**Skills:** C++, Python, MATLAB, Extended Kalman Filter, Gnss, Ins, Multi-Sensor Fusion, Inertial Navigation, State Estimation, Imu, Monte Carlo Simulation, Requirements Management, Safety Assessment, Vision-Aided Navigation, Gnss Jamming Mitigation
**Posted:** 2026-04-02

> Designs and implements safety-critical state estimation and navigation systems for aerospace platforms, including GNSS/INS fusion, multi-sensor integration for GPS-denied environments, and certification support. Requires 15+ years experience, MS/PhD, and strong C++/Python skills.

## Job Description

## Navigation System Architecture & Design
- Establish navigation performance requirements and error budgets for safety-critical applications
- Support decomposition of navigation requirements into allocations for sensors, estimation algorithms, and software components
- Design detailed software architecture for state estimation implementations, including module interfaces and data flow

## Algorithm Development & Implementation
- Design and implement Extended Kalman Filter algorithms for navigation applications, with broad understanding of state estimation theory and alternative filtering approaches
- Implement tightly-coupled and loosely-coupled GNSS/INS integration algorithms
- Integrate diverse sensing modalities (vision, RF, celestial etc.) into multi-sensor fusion framework for GPS-degraded environments
- Develop fault detection, isolation, and recovery (FDIR) strategies for navigation systems
- Implement integrity monitoring and protection level calculations for safety-critical operations

## Certification & Verification
- Develop verification and validation test plans for navigation algorithms
- Conduct performance analysis including Monte Carlo simulation, covariance analysis, and flight test data evaluation
- Document navigation system design, requirements allocation, and compliance evidence
- Support safety assessment activities including failure modes and effects analysis

## Technical Leadership
- Provide technical guidance on navigation architecture and state estimation approaches
- Support trade studies evaluating navigation sensor suites and fusion strategies
- Mentor junior engineers on state estimation theory and implementation

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