High-precision positioning method in complex environment

The invention discloses a high-precision positioning method in a complex environment. The method comprises the following steps: acquiring original observation data of a GNSS (Global Navigation Satellite System) sensor, a VISON visual sensor, an SINS (Strapdown Inertial Navigation System) inertial sensor and a WHEEL wheel type odometer, and preprocessing and synchronizing the original observation data; vISON/SINS/WHEEL joint dynamic initialization is carried out on the VISO/SINS/ Aligning the data of the visual sensor, the data of the inertial sensor, the data of the wheel type odometer and the data of the GNSS sensor; constructing a pre-integration model of the inertial sensor and the wheel type odometer; aggregating the GNSS original observation residual error, the visual residual error, the inertia pre-integration model, the wheel type odometer model and the plane constraint, and constructing a nonlinear residual error model; and solving the constructed nonlinear residual model in real time, and completing