Multi-sensor fusion pose estimation method

The invention provides a multi-sensor fusion pose estimation method, and the method comprises the steps: building a carrier coordinate system and a navigation coordinate system based on a dynamic Bayesian network and fracture mechanics, carrying out the output modeling of IMU equipment, and determining an IMU kinematic model; inputting respective degree-of-freedom information of the laser radar and the IMU, and performing fusion attitude estimation based on extended Kalman filtering; and continuously iterating and updating to realize filtering. According to the method, the attitude information obtained by the laser radar is used as an observation value to correct the value output by the IMU, so that the value is closer to a true value, the precision is improved to a certain extent in error statistics compared with that of other methods, accumulated errors existing in the IMU are corrected, and meanwhile the problem that tracking is prone to failure during rotation is solved; and the robustness and the robustn