Positioning navigation method suitable for complex three-dimensional environment

The invention discloses a positioning navigation method suitable for a complex three-dimensional environment, and belongs to the technical field of robot navigation. The method comprises the steps of constructing a mobile robot platform based on a laser radar and a camera; preprocessing the original point cloud output by the laser radar to obtain a point cloud subjected to filtering and motion distortion elimination; calibrating the camera, and correcting an image output by the camera according to a calibration result to obtain a distortion-eliminated image; performing joint calibration on the laser radar and the camera to obtain an external parameter matrix of the laser radar and the camera; so that a point cloud with color information is obtained; performing synchronous positioning and mapping of the combination of the laser radar and the camera according to the distorted image and the point cloud with color information to obtain an optimized high and low frequency combination odometer; constructing a globa