Multi-sensor state estimation method and device and terminal equipment

The invention is suitable for the technical field of data processing, and provides a multi-sensor state estimation method and device and terminal device.The method comprises the steps that in each cycle, sensor messages are taken out and arranged into a queue; deleting the system state estimation value of which the timestamp is later than the initial timestamp; the sensor messages in the queue are taken out; when the prediction class data is taken out, predicting a system state estimation value corresponding to the first timestamp according to a Kalman filtering prediction algorithm; when the update class data is taken out, a system state estimation value corresponding to the first timestamp is obtained and updated according to an update algorithm of Kalman filtering; when the sensor messages in the queue are all used, next circulation is carried out; and detecting the system state estimation value with the latest timestamp in the state estimation queue and outputting the system state estimation value. Accord