https://www.mathworks.com/help/fusion/ug/handle-out-of-sequence-measurements-with-filter-retrodiction.html
Handle Out-of-Sequence Measurements with Filter Retrodiction - MATLAB & Simulink
This example shows how to handle out-of-sequence measurements using the retrodiction technique at the filter level.
out of sequencewith filterhandlemeasurementsretrodiction