Unmanned ship integrated navigation method based on IMU/DVL/magnetometer/laser radar

The invention relates to an integrated navigation method for an unmanned ship based on IMU/DVL/magnetometer/laser radar. The integrated navigation method is used under hardware conditions of sensors such as MEMS IMU, Doppler velocimeter and magnetometer. The point cloud distortion correction means that the point clouds of different coordinate systems in the same data frame are transferred to the coordinate system where the starting point cloud of the frame is located. The MEMS IMU, the DVL and the magnetometer all have high data updating frequency, and before point cloud data is updated, the motion of a carrier is predicted and estimated. The MEMS IMU outputs an angular velocity and an accelerated velocity under a carrier coordinate system, and state updating is carried out by using the above information; the magnetometer outputs the magnetic field intensity under a b system, the DVL outputs the speed under a coordinate system where the DVL is located, measurement updating is conducted through the information