I have a 1D Time-of-Flight based range finder that returns distance in mm. I am trying to implement a Kalman filter to get outlier-free estimation. The sensor measures the distance to the ground below it while the sensor assembly is mounted on a mobile platform that moves orthogonal to the direction of measurement. The following diagram tries its best to clarify:
I am unable to come up with a motion model for the filter as the measurements are independent of the motion of the assembly. Is Kalman Filter still applicable here ?