Multi-sensor fusion robot positioning method, system and device

The invention discloses a multi-sensor fusion robot positioning method. The method comprises the following steps: S1, establishing an offline two-dimensional grid map through data information of an inertial measurement unit, an odometer and a single-line laser radar; s2, establishing a transformation relation between an off-line two-dimensional grid map coordinate system and a global coordinate system; s3, initial state information of the robot is set, and output information of the single-line laser radar, the optical flow sensor and the differential GPS is obtained; s4, according to the output information of the optical flow sensor, the speed information and the attitude information of the motion of the robot are obtained through calculation; according to the robot positioning method and system, the positioning sensor comprising the inertial measurement unit, the odometer, the single-line laser radar, the optical flow sensor and the differential GPS is arranged, comprehensive data acquisition is carried out