Display system for fusion of virtual environment and real scene

The invention relates to the technical field of virtual reality, in particular to a display system for fusion of a virtual environment and a real scene. The system specifically comprises a real scene modeling module, a virtual scene modeling module, a sensor fusion module and a controller terminal module. According to the display system capable of carrying out virtual reality interaction, the grid map is established through the laser radar, the grid map is combined with the 3D projector to establish the three-dimensional virtual environment, and data fusion and coordinate system alignment are carried out, so that after a user walks into the three-dimensional virtual environment, the user can carry out virtual reality interaction on the three-dimensional virtual environment. According to the method, simple movement interaction with a virtual character projected from a virtual environment is carried out, meanwhile, an obstacle avoidance method based on dynamic constraint is established and is used for carrying