A
I am also experimenting with methods to increase GPS accuracy. I am interested in whether you've had success.
With regards to startup time: to what extent have you explored the various hot/warm start options? I believe the pytrack's GPS has assisted GPS as well. The library from Pycom doesn't seem to touch any of the GPS's features, you will likely need to delve into the module's datasheet.
With regards to accuracy:
If you are expecting cm level accuracy, you're talking about RTK mode, correct? With a base and rover? Some models also seem to support a moving base, but presumably that would decrease your accuracy.
I am currently experimenting with a couple different inertial measurement units. Unfortunately, an accelerometer alone (which is included in the pytrack) isn't enough to augment position information. A gyroscope and magnetometer are also needed, to provide accurate absolute orientation information. Combined with acceleration data (which I am sourcing from the integrated accelerometer in the IMU, with the hopes of it being more correlated to the other sensor data), one can of course double-integrate the acceleration to find the position, and combine the information with the GPS estimate. I have taken a shot at writing a Kalman filter for this, although it currently relies on numpy and thus probably can't run onboard. I'm going to continue to explore this.
