[howard941]

You can (should) throw more sensors with different characteristics at a Kalman filter for enhanced results in the presence of noise. The wiki page is actually excellent https://en.wikipedia.org/wiki/Kalman_filter

In the example presented some of the inputs could include direction finding to local broadcasters, a GLONASS receiver, a heading indicator and distance traveled odometer if we're talking a road vehicle, and many other things limited only by your imagination and resources at hand.

[lam]

In another thread discussing BLE, you mentioned your profile contained your email addr. I checked your profile and couldn't find it -- maybe it's not made public? Would love to follow up. My email is in my profile.