Vehicle integrated navigation based on laser Doppler velocimeter

For the navigation accuracy of strapdown inertial navigation system (SINS) degrades with time, a scheme of vehicle integrated navigation based on laser Doppler velocimeter (LDV) combined with SINS is proposed. Through establishing the state and measurement equations, practical Kalman filter for the integrated system is designed and system simulations are then carried out. It can be concluded that the SINS/LDV integration system can reduce the accumulated error of SINS effectively so that self-contained navigation of high accuracy could be realized. The position accuracy and velocity accuracy are increased by 2 orders and 1 order of magnitude with the SINS/LDV system, respectively, when the velocity measurement accuracy of LDV is 0.1%.