Kalman filters are great! For people interested of one used in practice, it's used by Sendspin to keep speakers in sync, even works in browsers on phones on 5G etc.

Open the Sendspin live demo in your browser: https://www.sendspin-audio.com/#live-demo

Some more info on Kalman implementation here https://github.com/Sendspin/time-filter/blob/main/docs%2Fthe...