Putting as much distance as possible between you & him is the best help it can be.
Also - the best way to reduce their hatred (which is HIS problem, and HIS to resolve, but you can at least try to escape from it, although really you shouldn't have to) is to be as much of a blank space as possible - no emotional reaction, as little contact as possible, no references to the past. Become a blank shade of nothing that he can't direct his anger at - moving away will def. help this.
You can try the police again. They SHOULD be aware that emotional abuse is a crime, as well as threats (and shit in your boots is pretty threatening) and intrusion. If you want the reassurance, then contact the police and speak to someone who knows their job.
Women's Aid can also offer help and advice, it's not just for women who've been hit - they support any/all women in need of it, and you need it.
And ... MOVE! Do NOT resign yourself to decades of him working 'out the back' (I assume in a shed/annex in the garden) and being scared to leave the house.
Think of this - it's a nice day, you get the kids ready, clean up after breakfast, and head out the door to visit a friend or family - totally normal. Compare that to finding shit in your boots and being scared to go out.
Why would you NOT move?