Multi-source positioning method based on binocular camera and automobile data recorder

The invention relates to the technical field of vehicle navigation, in particular to a multi-source positioning method based on a binocular camera and an automobile data recorder, and the method comprises the following steps: S1, collecting an environment image by adopting the binocular camera, and respectively determining an environment state quantity and a visual positioning observed quantity according to the environment image; s2, the current scene of the vehicle is determined according to the environment state quantity, and scene switching parameters are generated; s3, obtaining pose information of the vehicle according to the scene switching parameters, the positioning signal observed quantity, the inertial navigation observed quantity and the visual positioning observed quantity; the method has the beneficial effects that the environment state parameters used for representing the surrounding environment and the visual positioning parameters used for representing the vehicle movement are determined based