Outdoor map based on perimeter wire/fence

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Hello,

I'm new in ROS2 Foxy and have build a lawn mower robot which uses a Perimeter wire as boundary fence.

The robot is equipped with Perimeter Sensors to detect if it is inside or not. It is able to follow/track the perimeter wire. Also it is equipped with odometry, IMU+compass, bump Sensor, cheap GPS and sonar.

Now I'm looking for a solution to build a map during robot tracks Perimeter. I found lots of Tutorials using lidar, but I don't have. Also GPS is inaccurate as it jumps up to 5 meters while not moving.

My planned solution is to record position while tracking by odom and imu and build the map. But I don't have any glue how to start even not which package might be a string point.

I know that compass imu and odom will drift and that Offset will increase by time but this is tolerable for me

Any hints are welcome.

Patrick