提出了一种在地面运输与机动过程中,采用单波束激光测速仪对弹载惯组误差进行在线标定的方法。首先介绍了这种在线标定方法的基本原理与方案,然后基于捷联惯导误差模型、惯组漂移误差模型和测速仪误差模型选取了在线标定组合滤波器状态量,并推导了单波束激光测速仪/捷联惯导速度匹配量测模型,最后,进行了仿真计算并列出了相关计算结果,验证了这种基于单波束激光测速仪的惯组在线标定方法的正确性。 A method of on-line calibration of the error of on-board inertial units with single-beam laser velocimetry is proposed in the process of ground transportation and maneuvering. Firstly, the basic principle and scheme of this online calibration method are introduced. Then the state quantities of the online calibration combined filter are selected based on the SINS error model, the inertial drift model and the velocity error model. The single-beam laser velocity Finally, the simulation calculation is carried out and the related calculation results are listed. The correctness of this method for on-line calibration of inertial trains based on single-beam laser velocimetry is verified.