[1] [1] Scheding S, Dissanayake G, Nebot E M, et al. An experiment in autonomous navigation of an underground mining vehicle［J］. IEEE Transactions on Robotics and Automation, 1999, 15(1): 85-95.

[2] [2] Gao C F, Wei G, Zhou J, et al. Application of high-accuracy laser Doppler velocimeter in self-contained navigation［C］. SPIE, 2015, 9525: 95252A.

[3] [3] Yang Yucui, Yu Along, Zhu Yanhua. Research on "zero velocity update" technology applied in missile launching vehicle based on Kalman filter ［J］. Electrical Automation, 2010, 32(1): 1-3.

[4] [4] Bristeau P J, Petit N, Praly L. Design of a navigation filter by analysis of local observability［C］. Decision and Control of IEEE, 2010, 58(8): 1298-1305.

[5] [5] Zhang Zhongping, Cheng Zhien, Zhang Haifeng, et al. Global laser ranging observation of Beidou satellites and data application［J］. Chinese J Lasers, 2017, 44(4): 0404004.

[6] [6] Wang W, Wang D. Land vehicle navigation using odometry/INS/vision integrated system［C］. IEEE Conference on Cybernetics and Intelligent Systems, 2008: 754-759.

[7] [7] Kleinhempel W. Automobile Doppler speedometer［C］. Vehicle Navigation and Information Systems Conference, 1993: 509-512.

[8] [8] Yan Gongmin. Research of vehicle autonomous position and azimuth determining system［D］. Xi′an: Northwestern Polytechnical University, 2006.

[9] [9] Zhou Jian. Preliminary study on laser Doppler velocimeter for vehicle self-contained navigation［D］. Changsha: National University of Defense Technology, 2011.

[10] [10] Zhou Jian, Long Xingwu. Laser Doppler velocimeter for vehicle inertial navigation system［J］. Chinese J Lasers, 2010, 37(5): 1316-1321.

[11] [11] Wei Guo, Wang Yu, Zhou Jian, et al. Vehicle integrated navigation based on laser Doppler velocimeter［J］. High Power Laser and Particle Beams, 2011, 23(1): 49-53.

[12] [12] Nie Xiaoming. Research on laser velocimeter for vehicle self-contained navigation system［D］. Changsha: National University of Defense Technology, 2014.

[13] [13] Gao C, Wang Q, Wei G, et al. A highly accurate calibration method for terrestrial laser Doppler velocimeter［J］. IEEE Transactions on Instrumentation & Measurement, 2017, 66(8): 1994-2003.

[14] [14] Gao Zhongyu. Kalman filter design of inertial positioning system［J］. Journal of Chinese Inertial Technology, 2000, 8(4): 5-9.