With the development of the economy, positioning business has widely penetrated into various corners of social services such as the elderly, children, pets, tourism, public security, logistics and express delivery, vehicle care, mobile resource management, and is constantly affecting our quality of

When driving in urban canyons, tunnels, or under bridges, the signal reception of on-board GPS locators may deteriorate. Even worse, it may suffer a complete interruption. Therefore, we need a supplementary or standby system, such as Inertial navigation system.However, this efficiency cannot be main