Laser ranging and MEMS (Micro Electro Mechanical Systems)/GPS (Global Positioning System) based target navigation and mapping error angle estimation method

The invention discloses a laser ranging and an MEMS (Micro Electro Mechanical Systems)/GPS (Global Positioning System) integrated navigation system based target navigation and mapping error angle estimation method. The method comprises measuring a position and an attitude of an observation point according to the MEMS/GPS integrated navigation system and measuring the slant distance between the observation point and a target through a laser ranging finder; calculating three-dimensional coordinates and relative position error of a reference point based on the measuring values and accordingly constructing an observation equation of the reference point; estimating an attitude error angle and an installation misalignment angle by obtaining position and attitude information of two external reference points. The laser ranging and MEMS/GPS based target navigation and mapping error angle estimation method can effectively solve the problem that the error in a traditional method cannot be observed due to fully utilization of repeat observation information and effectively improving the navigation and mapping accuracy of the target due to accurate estimation and compensation of the installation misalignment angle and the attitude error angle according to the external reference information.