A method for printing a livery image using a system which includes an inkjet printing module on a surface of an object and for use in association with a motion platform , the method comprising the steps of: acquiring data from a local sensing suite , said local sensing suite comprises any one or combination of one or more range sensors for acquiring range data of the surface and one or more relative motion sensors for measuring relative motion of the ink-jet printing module with respect to the surface ; acquiring data from one or more global motion tracking devices ; creating a first measurement product by fusing said acquired data from said local sensing suite and said one or more global motion tracking devices to control the motion platform to move the ink-jet printing module across said surface ; and creating a second measurement product by fusing said acquired data from said local sensing suite and said one or more global motion tracking devices to control the timing of ejection of the print material from said inkjet printing module , wherein creating the second measurement product by fusing data from said local sensing suite and said one or more global motion tracking devices to control the timing of applying printing material from said ink-jet printing module by receiving one or more travel distance measurements from the one or more relative motion sensors in the local sensing suite ; fusing said travel distance measurements with pose measurements of the ink-jet printing module obtained from the one or more of global motion tracking devices ; generating a triggering pulse when said fused travel distance measurement is equal to or greater than a predetermined travel distance; and sending the triggering pulse to the ink-jet printing module wherein the triggering pulse controls a printing head of the ink-jet printing module to apply the printing material. acquiring data from a local sensing suite , said local sensing suite comprises any one or combination of one or more range sensors for acquiring range data of the surface and one or more relative motion sensors for measuring relative motion of the ink-jet printing module with respect to the surface ; acquiring data from one or more global motion tracking devices ; creating a first measurement product by fusing said acquired data from said local sensing suite and said one or more global motion tracking devices to control the motion platform to move the ink-jet printing module across said surface ; and creating a second measurement product by fusing said acquired data from said local sensing suite and said one or more global motion tracking devices to control the timing of ejection of the print material from said inkjet printing module , wherein creating the second measurement product by fusing data from said local sensing suite and said one or more global motion tracking devices to control the timing of applying printing material from said ink-jet printing module by receiving one or more travel distance measurements from the one or more relative motion sensors in the local sensing suite ; fusing said travel distance measurements with pose measurements of the ink-jet printing module obtained from the one or more of global motion tracking devices ; generating a triggering pulse when said fused travel distance measurement is equal to or greater than a fusing said travel distance measurements with pose measurements of the ink-jet printing module obtained from the one or more of global motion tracking devices ; generating a triggering pulse when said fused travel distance measurement is equal to or greater than a predetermined travel distance; and sending the triggering pulse to the ink-jet printing module wherein the triggering pulse controls a printing head of the ink-jet printing module to apply the printing material. <EOS>