Hahaha... yea. I actually had to submit my thesis with - lets say not the best - results because I did not use the actual timesteps. My inertial navigation sys

Hahaha... yea. I actually had to submit my thesis with - lets say not the best - results because I did not use the actual timesteps. My inertial navigation system for an autonomous rc model car would estimate paths that where kinda right, but always strongly distorted. For weeks and months after the thesis defence it really bothered me and I regularly dived into the system to find the cause for it. Some day I fiddled with the timesteps, rerun the evaluation and boom all the curves where perfectly aligned with the actual driving trajectory that we used to generate the data. I was amazed how good it now worked, and kinda sad that I could not present _these_ results for my thesis. Should have figured it out sooner. Too bad that all the literature, that I read so far, always only talked about fixed timesteps...