insta360 frames gps with accelerometer and gyroscope data -- 2

The mp4 files here have gps information and accelerometer and gyro information. I would need to have each frame (or at a certain framerate) with a direction relative to GPS north and with a level horizont. This would need to be done using a direction from one GPS Position to the next, with a kalman filter for a more stable heading combined with the gyro information for information in short timescales. The Pitch and Roll of the camera pose needs to be calculated using the accelerometer and gyro information. Frames should be exported in jpeg format with exiftags for Latitude, Longitude, Gimbal Pitch Degree, Gimbal Roll Degree, Gimbal Yaw Degree (for heading values). The camera coordinate system is not aligned with the world coordinate system, so a calibration needs to be done to find the correction values from camera coordinate / orientation to real world orientation. For each exported jpeg frame number plates, faces, and general text and numbers need to be blurred in a automated way in all images. The process should run on a CLI basis on windows. Knowledge in ffmpeg and exiftool would probably be needed. I will provide sample data from the camera in a link via a file server.