Multi-source information fusion method and system, terminal equipment and storage medium

The invention discloses a multi-source information fusion method and system, terminal equipment and a storage medium, and the method comprises the steps: obtaining a preset factor graph model, and determining a data transmission mode according to the factor graph model; obtaining a plurality of pieces of source information according to the data propagation mode, and inputting the plurality of pieces of source information into a preset system error model to obtain an error state quantity; and performing state estimation according to the error state quantity, and fusing the plurality of pieces of source information by adopting a sequential filter. According to the invention, the divergence of positioning errors is effectively inhibited, and the positioning precision is improved; and plug-and-play of the positioning information source is realized. 本发明公开了一种多源信息融合、系统、终端设备及存储介质，所述方法包括：获取预设的因子图模型，根据所述因子图模型确定数据传播方式；根据所述数据传播方式，获取若干源信息，并将所述若干源信息输入至预设的系统误差模型，得到误差状态量；根据所述误差状态量，进行状态估计，并且采用序贯滤波器对所述若干源信息进行融合。本发明有效抑制了定位误差的发散