A novel dynamic approach of accelerometer calibration in GPS/DR integrated navigation system

In this paper, a novel GPS (Global Positioning System) and DR (Dead Reckoning) system which is based on the accelerometer and gyroscope integrated system is designed and implemented, a new accelerometer calibration algorithm is also proposed. In this system, the odometer used in traditional DR system is replaced by a MEMS tri-axis accelerometer in order to decrease the cost and the volume of the system. The system is integrated by the Kalman filter and a new mathematical model is introduced. In the purpose of reducing the effect of the accumulated error caused by drift and bias of accelerometer, the accelerometer is calibrated online when GPS performs well. In this way, the integrated system does not only could obtain the high-precision positioning in real time, but also performs stably in practice.