Positioning method, device and equipment based on odometer

The invention belongs to the field of positioning, and provides a positioning method, device and equipment based on an odometer. The method comprises the steps of acquiring first attitude data of to-be-positioned equipment through a wheel type odometer; acquiring a point cloud image through a laser radar, and determining second attitude data of the to-be-positioned equipment based on a normal distribution transformation method; and determining a nonlinear system corresponding to the to-be-positioned equipment according to the first attitude data and the second attitude data, fusing the first attitude data and the second attitude data based on an extended Kalman filtering method, and determining fused third attitude data for positioning. Therefore, the fused attitude data can effectively reduce the influence of accumulated errors, the mileage deviation caused by road surface factors is reduced, and the positioning precision and the positioning stability of positioning equipment are improved. 本申请属于定位领域，提出了一种基于里