[wintermutesGhst]

Neat article covering a lot of topics, but I'm fairly surprised by these results.

At one point I was looking at building a navigation module for a car using a similar setup to smooth noise, but after some searching I found a paper which showed essentially no benefit from the accelerometer/gyro. The 'drift' on the accelerometer meant it could only filter very fast changes, which the Kalman filter on the GPS board already handled quite well.

I should dig out my little MTK3339 and try to replicate!

[Gen1us2k]

Yes, accelerometer's "drift" became a world of pain for me, but android developers did great work for that and all we need to do is to add calibration step to application and use their "linear acceleration" sensor.