Transformer substation robot dual positioning method and system based on vision and GPS

The invention provides a transformer substation robot dual positioning method and system based on vision and a GPS. The method comprises the steps that registration errors obtained through ICP point cloud registration in the laser positioning navigation process are obtained; when the registration error threshold value is greater than the registration error threshold value, determining that the point cloud registration positioning of the transformer station robot fails; acquiring GPS positioning data when registration positioning fails, and generating a visual feature matching range according to the GPS positioning data; visual features are extracted according to the visual image data, a feature map is matched in combination with a visual feature matching range, and the current pose of the robot after dual positioning is obtained; the problem that the position is easy to lose through laser radar positioning and navigation is solved, a design scheme of saving computing power is adopted, the problem that an indu