Abstract Aiming at the problem of deterministic errors in the output of the IMU array, we propose an online calibration method based on the Levenberg-Marquardt(LM) optimization algorithm. It calibrates the deterministic errors of accelerometers and gyroscopes by rotating and standing IMU array without any external reference devices. Firstly, we calibrate the accelerometers by static data from multiple positions, then we calibrate the gyroscopes by the calibrated accelerometers and the rotation data between positions. The simulation result shows that the residual accuracy is close to the theoretical value. Three sets of vehicle experiments show that the dynamic navigation accuracy is increased by an average of 19.1% after calibration, indicating that the method can calibrate errors and improve the navigation accuracy effectively.