A Novel Dynamic Approach of Accelerometer Calibration in GPS/DR Integrated Navigation System


Article Preview

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.



Edited by:

Prasad Yarlagadda and Yun-Hae Kim






Y. R. Wang et al., "A Novel Dynamic Approach of Accelerometer Calibration in GPS/DR Integrated Navigation System", Applied Mechanics and Materials, Vols. 241-244, pp. 927-933, 2013

Online since:

December 2012




[1] Qing Chang, Pingfang Zheng. The Study of Data Fusion Algorithm of GPS/DR Integrated Vehicular Navigation System[J]. Journal of China Institute of Communications, 2000: 21(2), 42-48.

[2] Mehra. On the Identification of Variances and Adaptive Kalman Filtering[J]. IEEE Transactions on Automatic Control, 1970: 15, 175–184.

DOI: 10.1109/tac.1970.1099422

[3] Yang, Y., W. Gao. An Optimal Adaptive Kalman Filter[J]. Journal of Geodesy, 2006: 80(4), 177-183.

[4] A.P. Sage, G.W. Husa. (1969). Adaptive Filtering with Unknown Prior Statistics[J]. Proceedings of Joint Automatic Control Conference, 1969: 760-769.

[5] Maybeck, Hanlon. Performance Enhancement of a Multiple Model Adaptive Estimator[J]. IEEE Transactions on Aerospace and Electronic Systems, 1995a: 31, 1240–1254.

DOI: 10.1109/7.464348

[6] Yongna Chang, Hai Zhang. An adaptive kalman filtering algorithm based on the dynamic estimation of the measurement noises [J]. Electronics optics & control, 2012: 6, 26-31.

[7] Hai Zhang, Yanhong Chang, Huan Che. Measurement-based adaptive kalman filtering algorithm for GPS/INS integrated navigation system [J]. Journal of Chinese inertial technology, 2010: 18(6), 331-336.

In order to see related information, you need to Login.