To Generate Track Map For Each Corridor

*Very accurately Place GPS from Reference  run and GPS from other runs Aligned to
reference file onto a GPS vs. Reference File odometer distance

* Use Robust outlier Elimination

*Apply  Optimal Smoothing of GPS  Position vs. Distance ,using Odometer,
and "rate gyro" from curvature to precisely estimate LAT/Long, distance along
track, and heading ( with about 1/2 the error as  that from good, standalone GPS).

Reconcile with existing surveyed track map if available (not necessary) .In any case
 you have a really  good track Map for many purposes "for Free"

Generate a Master Milepost File