Multi-sensor fused quadruped robot motion odometer design method

The invention discloses a multi-sensor fusion quadruped robot motion odometer design method which is applied to the field of robot motion control. A quadruped robot motion odometer is a key technologyfor realizing self accurate position calculation by means of a robot body sensor, an odometer calculation result provides global positioning information for robot foot falling and also provides feedback data for robot position control, a quadruped robot body carries a high-precision IMU, the body posture and acceleration data of a robot can be measured, and each key angle sensor can measure the joint angle of the robot and calculate the kinematics parameters of each leg, namely the foot end position. According to the invention, an odometer estimation coordinate system constructed under a machine body coordinate system is used for decoupling estimation disturbance caused by course fluctuation, meanwhile, a Kalman filter is constructed to introduce support phase position change and a body IMU acceleration measureme