Vehicle-mounted positioning and orienting method and device

The invention discloses a vehicle-mounted positioning and orientation method, which combines output data under a vehicle-carrying coordinate system of an odometer and a vehicle-carrying speed output by a laser Doppler velocimeter in a process of determining vehicle-mounted positioning and orientation information. The speedometer of the vehicle speed measurement sensor and the laser Doppler velocimeter of the speed measurement sensor are combined with the strapdown inertial navigation at the same time, so that high-precision self-positioning can be realized, and the effect that the positioning precision of the determined vehicle-mounted positioning and orientation information is higher is realized. 本申请公开了一种车载定位定向方法，该方法由于在确定车载定位定向信息的过程中同时结合了里程计的载车坐标系下的输出数据和激光多普勒测速仪所输出的载车速度，因此，实现了车辆测速传感器里程计、测速传感器激光多普勒测速仪同时与捷联惯导进行组合，从而可以实现高精度的自主定位，即实现了所确定的车载定位定向信息的定位精度更高的效果。