> Isn't your "that turned out to be too hard" one of the answers?
That's a "we need an expert in filter theory" problem. I had four people crash and burn on that problem when we were building a DARPA Grand Challenge vehicle. Combining GPS, accelerometer, gyro, compass, and odometer data to get position is a hard problem. All those sensors are noisy, but in quite different ways. There are off the shelf solutions now, but there were not in 2004. We could not get below 3 degrees of heading noise, and had trouble keeping the sensor map aligned to the real world.
That's a "we need an expert in filter theory" problem. I had four people crash and burn on that problem when we were building a DARPA Grand Challenge vehicle. Combining GPS, accelerometer, gyro, compass, and odometer data to get position is a hard problem. All those sensors are noisy, but in quite different ways. There are off the shelf solutions now, but there were not in 2004. We could not get below 3 degrees of heading noise, and had trouble keeping the sensor map aligned to the real world.