Integrated navigation calibration method, device and system

The invention relates to a calibration method, device and system for integrated navigation, and relates to the technical field of navigation. The method disclosed by the invention comprises the following steps: constructing a state equation of a Kalman filter according to error parameters of an inertial navigation system; constructing a measurement equation of a Kalman filter according to the position error between the position output by the inertial navigation system and the position output by the GPS and the speed error between the speed output by the inertial navigation system and the speed output by the GPS; according to the state equation of the Kalman filter and the measurement equation of the Kalman filter, determining an estimated value of an error parameter of the inertial navigation system by using the Kalman filter; and calibrating the position and speed output by the inertial navigation system according to the estimated value of the error parameter of the inertial navigation system. 本公开涉及一种组合导航的校准