# How to use KALMAN with accelerometer?

hi
I found an article that shows how to use kalman filter to models error of accelerometer. they used markov process as stochastic error, then output of this model will be used as input of KALMAN filter.

Now, I don't what to do. I'm not sure, but I think that I need to double integrate the acceleration, then I subtract kalman's filter output from the integration result.

if this is right answer, I don't see the utility of the filter. why I don't double integrate the output of stochastic model ?

thank you