The invention discloses a method and
system for integrated navigation of a
laser inertial measuring unit and an
odometer. The method comprises steps of: S1, collecting an
odometer pulse number in N sampling periods at a normal operation condition, and solving a pitching installation
drift angle and a course installation
drift angle between the inertial measuring unit and the
odometer; S2, establishing a state equation; S3, establishing a measurement equation, which comprises a measurement value 1 shown in the description being a displacement increment of the inertial measuring unit in a No. i sampling period under a
navigation system, a measurement value 2 shown in the description being an odometer increment of the inertial measuring unit in the No. i sampling period, and a measurement value 3 shown in the description being a displacement projection of the inertial measuring unit under the
navigation system; and S4, utilizing the state equation and the measurement equation, and performing Kalman filtering for correcting parameter errors of an
inertial navigation system and a device in real time to complete integrated navigation. The invention further provides a
system for realizing the method. By implementing the method and the
system, an error of integrated navigation can be effectively corrected, and the accuracy of integrated navigation can be greatly improved. The method and system are particularly suitable for a situation when the inertial measuring unit is inclined at a large angle.