Multi-sensor fusion positioning track smoothing method

The invention discloses a multi-sensor fusion positioning track smoothing method which specifically comprises the following steps: S1, calculating a position difference delta P, setting Pf as a position coordinate of fusion positioning and Pb as a position coordinate given by positioning observation to be switched in the next step, and calculating the position difference between Pf and Pb: delta P = Pf-Pb; s2, the position smoothing quantity Ps is calculated, and the calculation modes of the smoothing quantity can be diverse and are not limited by the fixing mode or the expression form of the position coordinates; s3, compensating the position observation value, compensating the smooth quantity Ps to Pb, and generating a new position observation value P'b; p'b = Pb + Ps; and S4, fusing the P'b in the filter. According to the method, the problem of inconsistent positioning during position switching observation can be solved, smooth transition from one position observation to another position observation is rea