Unmanned aerial vehicle autonomous positioning method and device and unmanned aerial vehicle

The invention provides an unmanned aerial vehicle autonomous positioning method and device and an unmanned aerial vehicle. The method comprises the steps of obtaining laser positioning information according to data collected by a two-dimensional laser radar of the unmanned aerial vehicle; obtaining visual positioning information according to data collected by an inertial sensor, a visual odometerand a depth camera of the unmanned aerial vehicle; obtaining height information according to data collected by a fixed-height radar of the unmanned aerial vehicle; and obtaining positioning information of the spatial position of the unmanned aerial vehicle according to the laser positioning information, the visual positioning information and the height information. According to the method providedby the embodiment, autonomous positioning of the unmanned aerial vehicle can be achieved without satellite signals, and the autonomous positioning mode can be suitable for the underground space environment. 本公开提供了无人机自主定位方法、装置