"Should we start a new thread, "shrinking a concave polygon"?- NA

.... Yes! That would be great! .... but itmustcover both a mix of convex and concave.

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"You don't need to profile the IMU drift, just estimate the combination ofmaximum IMU driftand GPS measurement noise"- NA

Here is were I keep losing you! Why do we need to account for IMU drift at all? You give me the impression that you will be compensating for drift over a long time (>2-3 seconds). The maximum IMU drift would only be for one second max! ..... negligible.

Also, you give me the impression that the GSP is themore accurate positionauthority. The GPS could be off 3-4 feet at any given time and for a long time (several seconds). Where as the IMU , given a fix to start, is much more accurate in the under one second output frame.

IE: IMU calculates the next positionvery accuratelyfor the nextsecondafter fix, GPS outputs for this reading as well but has errored by 3 feet!

This is why I wanted to use theIMUout to simply "bound... by simply taking the distance (halve way) between the two (IMU and GPS) best guesses..... halving any error .... and use this for the working position.the future GPS error swing" ....