Multi-sensor fusion positioning method of GPS/IMU and laser radar

The invention relates to the technical field of navigation and positioning of front-drive front-steering four-wheel-train vehicles, in particular to a GPS/IMU and laser radar multi-sensor fusion positioning method, which comprises the following steps: designing a long-short-term memory neural network model based on GPS and IMU positioning characteristics according to a GPS operation state to fuse a GPS and an IMU so as to improve the GPS positioning robustness; the real-time point cloud frame of the laser radar is matched and positioned in real time based on normal distribution transformation and a pre-established point cloud map; obtaining a vehicle pose state updating equation with a constant speed and a constant turning rate based on a four-wheel kinematics equation of front-drive front-steering; based on the GPS/IMU fusion positioning, the laser radar matching positioning and the pose state updating equation, obtaining a corresponding Sigma point and a Sigma weight through UT conversion; and calculating K