Aiming at the problem of application under actual combat conditions

the laser Doppler velocimeter needs to be calibrated in advance

an online calibration algorithm of laser Doppler velocimeter is proposed. The laser Doppler velocimeter scale factor error

inertial measure unit mounting angle error

and lever arm error are treated as the integrated navigation error state variables. When the carrier attitude velocity changes

the Kalman filter is used to estimate the error

and the result is used to compensate the output of the laser Doppler velocimeter（ LDV）. The difference between the inertial navigation and the speed measured by speedometer as the measuremeant of the integrated navigation is defineded. It is proved by algorithm simulation and vehicle experiments that the algorithm can correctly separate the error states and accurately calibrate the error of the speedometer and inertial navigation.