Multi-sensor fusion accurate positioning and autonomous navigation method

The invention discloses a multi-sensor fusion accurate positioning and autonomous navigation method. The method comprises the following steps: S1, acquiring point cloud data through multiple sensors; s2, carrying out fusion processing on multiple sensors and obtaining global map information; s3, further positioning the autonomous navigation system based on the constructed three-dimensional point cloud map; and S4, carrying out local path planning. A high-precision environment map can be constructed in a complex environment of a transformer substation in a mode of fusing a wheel type odometer and an IMU (Inertial Measurement Unit) to improve a Cartographic map construction algorithm. Besides, the effect of local path planning is improved, the current obstacle total density value is compared with a critical condition in different window modes, if the condition is met, a window search path with a small range is adopted in an environment with dense obstacles, and a window search path with a large range is adopted