Inertia, vision and height information fusion navigation method for unmanned aerial vehicle

The invention provides an inertia, vision and height information fusion navigation method for an unmanned aerial vehicle. The inertia, vision and height information fusion navigation method for the unmanned aerial vehicle comprises the following steps: acquiring a scale estimation value according to real-time height information of the unmanned aerial vehicle; updating vision measurement information according to the scale estimation value; collecting a visual image by a visual sensor, and performing feature extraction and matching according to the visual image to obtain a speed initial value of the inertial sensor; constructing an inertia residual error; acquiring IMU inertial parameters by adopting a twice inertial sensor initialization method according to the inertial residual error; according to the IMU inertial parameters and the visual image, inertial-visual joint optimization is carried out to complete pose estimation, and unmanned aerial vehicle positioning is carried out to complete inertial, visual an