Automatic calibration of in-vehicle portable inclinometer using mobile phone for vehicle navigation

An in-vehicle portable inclinometer using mobile phone for vehicle navigation is proposed using forward vehicle acceleration, pitch angular velocity of the gyroscope and longitudinal acceleration of accelerometer to calculate the in-vehicle inclination angle. The in-vehicle portable inclinometer can perform automatic calibration to remove the misalignment pitch offset angle in both the Stationary-mode and Moving-mode. The calibration is performed with an external 3D Geographic Information System (GIS) database that has an attribute that records the road grades of road segments.

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