Fig. 1. Optical structure of 2D LDV

Fig. 2. Installation relationship between 2D LDV and IMU

Fig. 3. Schematic of vehicle load experimental system

Fig. 4. Schematic of running track of loaded vehicle

Fig. 5. Horizontal position error of IMU under pure inertial navigation

Fig. 6. Output speeds of 2D LDV

Fig. 7. Positioning errors of dead reckoning before calibration of related parameters of 2D LDV. (a) Horizontal position; (b) altitude

Fig. 8. Filtering convergence curves. (a) ?mz; (b) δθ1; (c) δθ2

Fig. 9. Data processing procedure of dead reckoning

Fig. 10. Positioning errors of dead reckoning after calibration and compensation of related parameters of 2D LDV. (a) Horizontal position; (b) altitude