Underwater robot attitude estimation method and device, electronic equipment and storage medium

The invention provides an underwater robot attitude estimation method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the first position information of acoustic beacons in a reference coordinate system, and arranging a plurality of underwater acoustic positioning systems comprising the acoustic beacons and transducers in the reference coordinate system; second position information of the acoustic beacon relative to the energy converter is measured through the energy converter, then third position information of the acoustic beacon relative to the underwater robot is obtained, and the energy converter is installed on the underwater robot; according to the first position information and the third position information, a first transformation matrix of transformation from the reference coordinate system to a robot body coordinate system is obtained; and calculating the attitude information of the underwater robot relative to the reference coordinate system at t