SLAM (Simultaneous Localization and Mapping) method based on laser radar and rotary inertial navigation integrated framework and information fusion

The invention discloses an SLAM (Simultaneous Localization and Mapping) method based on a laser radar and rotary inertial navigation integrated framework and information fusion, and the method comprises the following steps: feature extraction: calculating translation and rotation between laser frames through IMU (Inertial Measurement Unit) data, eliminating motion distortion in an original point cloud, and extracting stable edge and plane features from the original point cloud; LIO being composed of a state recursion sub-module and an updating sub-module, carrying out iterative Kalman filtering, and outputting the initial mileage and undistorted features; mapping: improving the initial mileage by using the global map, outputting a new mileage, and then updating the map by using a new feature. The method provided by the invention can be applied to MEMS inertial navigation with medium and low precision, and the positioning precision of the inertial navigation system during long-time operation is effectively imp