The research of multi-sensor data fusion assisted iPhone navigation is trying to find a combined solving navigation algorithm which are operated by IMU / GPS / magnetometer

this method are put specific that is measured by accelerometer and angular rate that is measured by gyroscopes together by using extend Kalman filtering technology. Corresponding initial alignment methods are designed aiming at low-cost sensor characteristics. Vertical and left-right body speed are added as the measurements to increase observability of system in the stage of GPS and INS combination

so as to achieve a better estimation of quantity of state

and obtain more accurate position

velocity and attitude information through feedback correction ultimately.