SINSOD integrated navigation correction method based on lever arm estimation

According to the SINSOD integrated navigation correction method based on lever arm estimation, a real lever arm value of SINSOD integrated navigation is measured, and the real lever arm value is used as a lever arm correction reference value of SINSOD integrated navigation; iMU (Inertial Measurement Unit) data and OD (Origin Destination) data are synchronously acquired, and a state variable of SINSOD integrated navigation is selected; establishing a Kalman filtering equation and a measurement equation according to the state variable; inputting a real-time measured lever arm value of SINSOD integrated navigation into the Kalman filtering equation and the measurement equation to obtain a lever arm estimated value; and when the error of the lever arm estimation value and the lever arm correction reference value is within a preset range and the variance of the installation deviation angle of the SINS system and the OD and the scale coefficient estimation error of the OD is smaller than a preset threshold value, c