Positioning initialization method and system and moving tool

The invention provides a positioning initialization method and system and a mobile tool. The method comprises the following steps: acquiring an initial pose point and a map of a vehicle; receiving a single-frame laser point cloud; searching a first area with the initial pose point as the center in the map, and rasterizing the first area according to the first position search resolution to obtain a first grid map; determining a plurality of estimated pose points and matching degrees of the estimated pose points and the single-frame laser point clouds, and selecting a plurality of candidate pose points from the plurality of estimated pose points; searching a second area taking the candidate pose point as a center in the map, and rasterizing the second area according to a second position search resolution to obtain a second grid map; determining a plurality of pose points to be selected according to the position information of each grid in the second grid map and a preset second search angle resolution; determin