Indoor and outdoor integrated unmanned navigation method

The invention provides an indoor and outdoor integrated unmanned navigation method, which comprises the following steps: carrying out multi-line laser radar point cloud 3D mapping and depth camera point cloud 3D mapping, fusing 3D maps, fusing an actual position calculated by a multi-line laser radar, an actual position calculated by a depth camera and an actual position calculated by a speedometer, and calculating the position of the multi-line laser radar, the actual position calculated by the depth camera and the actual position calculated by a speedometer. Fusing the point cloud 3D image of the depth camera and the point cloud 3D image of the multi-line laser radar, and calculating the actual position of the unmanned vehicle according to the proportions under various conditions; and finally, when the unmanned vehicle robot obtains the detailed map of the surrounding area, navigation can be started. When unmanned vehicle navigation starts to be used, whether RTK and GPS signals exist or not for high-precis