Autonomous flight method and system based on GAAS, and storage medium

The invention discloses an autonomous flight method and system based on a GAAS, and a storage medium, and the method mainly comprises the steps: carrying out the pose estimation of various types of to-be-processed information collected by a multi-fusion sensor and a binocular/depth/monocular camera in an unmanned aerial vehicle based on SLAM, and optimizing the position and posture of the unmannedaerial vehicle in a flight control process; planning a path in a flight control process by combining an A-star algorithm meeting dynamic constraints and an obstacle detection algorithm based on the binocular/monocular/depth camera; adopting a trajectory optimization algorithm based on gradient to optimize a trajectory, and generating a Trajectory with dynamic feasibility; and recovering a rotation and translation relationship between a sight distance sensor and a landing target during landing of the unmanned aerial vehicle based on a homography matrix, and guiding the unmanned aerial vehicleto land to a target place.