Visual and inertial mixed pose tracking method of head-mounted augmented reality system

The invention discloses a vision and inertia mixed pose tracking method of a head-mounted augmented reality system, which comprises the following steps of: firstly, initializing equipment, namely carrying out measurement preprocessing on a vision sensor and inertia measurement equipment, processing a frame image acquired by the vision sensor, and carrying out tracking on the frame image; the method comprises the following steps: performing pre-integration on inertial measurement results corresponding to two continuous frame images, performing joint calibration on a visual sensor and inertial measurement equipment, and fusing the pre-integrated inertial measurement results, visual image feature observation results and loopback detection results by using measurement data acquired by the visual sensor and the inertial measurement equipment. And carrying out fusion positioning on the head-mounted augmented reality system, carrying out loopback detection on a positioning result, and carrying out global pose map op