Abstract: In order to reduce the influence of laser Doppler autonomous velocimeters antenna installation error on velocity measurement accuracy, based on Doppler frequency shift principle, the relationship between installation error and velocity error is derived by the rotation matrix transformation. Influences of the three installation error angles on three-dimensional velocity measurement accuracy are analyzed respectively. After the rotation matrix is linearized by the Bursa model, optimal estimation of installation error angles are proposed by the total least-squares criterion, thus the velocity error compensation could be realized. The simulations show that velocity measurement error increases in proportional with the increment of the speed, the main factor influencing the longitudinal and lateral velocity precision is yaw angle, and the factor of vertical velocity precision is pitch angle, three-dimensional velocity error is significantly reduced after compensation.