"Researchers at Universidad Carlos III de Madrid (UC3M) have developed a new system which improves the ability of a GPS to determine a vehicle's position as compared to that of conventional GPS devices by up to 90 percent, and which can be installed in any vehicle at a very low cost.
The system, which is based on sensorial fusion, was jointly designed and developed by the Applied Artificial Intelligence Group (GIAA - Grupo de Inteligencia Aplicada Artificial) and the Systems Intelligence Laboratory (LSI - Laboratorio de Sistemas Inteligentes) at UC3M. The prototype incorporates a conventional GPS signal with those of other sensors (accelerometers and gyroscopes) in order to reduce the margin of error in establishing a location."
Seems like magic, when it's not really and already out on Diydrones! Welcome to arducopter 2.9.2 :)