Doppler velocity measurement error calibration method for underwater integrated navigation

The invention relates to a Doppler velocity measurement error calibration method for underwater integrated navigation, and belongs to the technical field of underwater integrated navigation systems. According to the calibration method, the GNSS configured in the underwater vehicle is utilized, an observation equation is established according to the speed difference between the inertial navigation system and the Doppler velocimeter and the position difference between the inertial navigation system and the GNSS, and the position information of the GNSS is used as the observed quantity; the method overcomes the defects of poor estimation effect of the scale factor error and the installation deviation angle when only SINS/DVL integrated navigation is used for calibration, and improves the observability of the scale factor error and the installation deviation angle. Besides, by controlling the route direction in the calibration process, the convergence speed of the calibration scale factor error and the installati