diff --git a/gradle/dependencies.gradle b/gradle/dependencies.gradle
index f8000a4999f..51479e7a25c 100644
--- a/gradle/dependencies.gradle
+++ b/gradle/dependencies.gradle
@@ -11,7 +11,7 @@ ext {
       mapboxMapSdk       : '6.5.0',
       mapboxSdkServices  : '4.0.0',
       mapboxEvents       : '3.2.0',
-      mapboxNavigator    : '3.0.1',
+      mapboxNavigator    : '3.1.1',
       locationLayerPlugin: '0.8.1',
       autoValue          : '1.5.4',
       autoValueParcel    : '0.2.5',
diff --git a/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/MapboxNavigationOptions.java b/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/MapboxNavigationOptions.java
index 5727b3b7b99..90fdc797faf 100644
--- a/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/MapboxNavigationOptions.java
+++ b/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/MapboxNavigationOptions.java
@@ -5,6 +5,8 @@
 import com.google.auto.value.AutoValue;
 import com.mapbox.services.android.navigation.v5.navigation.notification.NavigationNotification;
 
+import static com.mapbox.services.android.navigation.v5.navigation.NavigationConstants
+  .NAVIGATION_LOCATION_ENGINE_INTERVAL_LAG;
 import static com.mapbox.services.android.navigation.v5.navigation.NavigationConstants.ROUNDING_INCREMENT_FIFTY;
 
 /**
@@ -56,6 +58,8 @@ public abstract class MapboxNavigationOptions {
 
   public abstract int locationAcceptableAccuracyInMetersThreshold();
 
+  public abstract int navigationLocationEngineIntervalLagInMilliseconds();
+
   public abstract Builder toBuilder();
 
   @AutoValue.Builder
@@ -101,6 +105,8 @@ public abstract static class Builder {
 
     public abstract Builder locationAcceptableAccuracyInMetersThreshold(int accuracyInMetersThreshold);
 
+    public abstract Builder navigationLocationEngineIntervalLagInMilliseconds(int lagInMilliseconds);
+
     public abstract MapboxNavigationOptions build();
   }
 
@@ -124,6 +130,7 @@ public static Builder builder() {
       .isDebugLoggingEnabled(false)
       .roundingIncrement(ROUNDING_INCREMENT_FIFTY)
       .timeFormatType(NavigationTimeFormat.NONE_SPECIFIED)
-      .locationAcceptableAccuracyInMetersThreshold(NavigationConstants.ONE_HUNDRED_METER_ACCEPTABLE_ACCURACY_THRESHOLD);
+      .locationAcceptableAccuracyInMetersThreshold(NavigationConstants.ONE_HUNDRED_METER_ACCEPTABLE_ACCURACY_THRESHOLD)
+      .navigationLocationEngineIntervalLagInMilliseconds(NAVIGATION_LOCATION_ENGINE_INTERVAL_LAG);
   }
 }
diff --git a/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/MapboxNavigator.java b/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/MapboxNavigator.java
index 43b737db5c7..ffaa0750a7b 100644
--- a/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/MapboxNavigator.java
+++ b/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/MapboxNavigator.java
@@ -22,7 +22,11 @@ synchronized void updateRoute(String routeJson) {
     navigator.setRoute(routeJson, 0, 0);
   }
 
-  synchronized NavigationStatus retrieveStatus(Date date) {
+  synchronized NavigationStatus retrieveStatus(Date date, long lagInMilliseconds) {
+    // We ask for a point slightly in the future to account for lag in location services
+    if (lagInMilliseconds > 0) {
+      date.setTime(date.getTime() + lagInMilliseconds);
+    }
     return navigator.getStatus(date);
   }
 
diff --git a/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/NavigationConstants.java b/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/NavigationConstants.java
index d7b1e5f7744..920fb6772da 100644
--- a/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/NavigationConstants.java
+++ b/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/NavigationConstants.java
@@ -197,6 +197,17 @@ private NavigationConstants() {
    */
   static final int ONE_HUNDRED_METER_ACCEPTABLE_ACCURACY_THRESHOLD = 100;
 
+  /**
+   * Default approximate location engine interval lag in milliseconds
+   * <p>
+   * This value will be used to offset the time at which the current location was calculated
+   * in such a way as to project the location forward along the current trajectory so as to
+   * appear more in sync with the users ground-truth location
+   *
+   * @since 0.20.0
+   */
+  static final int NAVIGATION_LOCATION_ENGINE_INTERVAL_LAG = 1500;
+
   static final String NON_NULL_APPLICATION_CONTEXT_REQUIRED = "Non-null application context required.";
 
   public static final Float[] WAYNAME_OFFSET = {0.0f, 40.0f};
diff --git a/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/RouteProcessorRunnable.java b/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/RouteProcessorRunnable.java
index 449a3f08ad4..03bf5bc5784 100644
--- a/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/RouteProcessorRunnable.java
+++ b/libandroid-navigation/src/main/java/com/mapbox/services/android/navigation/v5/navigation/RouteProcessorRunnable.java
@@ -53,7 +53,8 @@ private void process() {
     MapboxNavigationOptions options = navigation.options();
     DirectionsRoute route = navigation.getRoute();
 
-    NavigationStatus status = mapboxNavigator.retrieveStatus(new Date());
+    NavigationStatus status = mapboxNavigator.retrieveStatus(new Date(),
+      options.navigationLocationEngineIntervalLagInMilliseconds());
     RouteProgress routeProgress = routeProcessor.buildNewRouteProgress(status, route);
 
     NavigationEngineFactory engineFactory = navigation.retrieveEngineFactory();