Multi-sensor fusion transport vehicle navigation method and system

The invention provides a multi-sensor fusion transport vehicle navigation method and system.The multi-sensor fusion transport vehicle navigation method comprises the steps that S1, GPS data, inertial navigation data, 3D laser radar data and a field map are obtained; s2, setting and optimizing a path on the field map, and generating a vehicle transportation route; s3, generating current vehicle pose information according to the GPS data, the inertial navigation data and the 3D laser radar data; s4, generating a navigation path according to the vehicle transportation route and the current vehicle pose information; and S5, controlling the vehicle to run according to the navigation path. By adopting the technical scheme, the method has the beneficial effects that a GNSS/inertial navigation/laser radar fusion navigation mode is adopted, so that the precision and the stability during operation are improved. 本发明提供了一种多传感器融合的运输车导航方法以及系统，多传感器融合的运输车导航方法，包括：S1、获取GPS数据、惯导数据、3D激光雷达数据、现场地图；S2、在现场地图上设置并优化路径，生成车辆运输路线；S3、根据所述G