Comprehensive positioning method and system for subway tunnel inspection robot

The invention discloses a comprehensive positioning method and system for a subway tunnel inspection robot, the inspection robot is provided with a servo motor encoder, an inertial sensor, a camera and an RFID tag, the two sides of each platform of a subway tunnel are provided with RFID receivers, and a line between every two platforms of the subway tunnel is uniformly provided with a plurality of line marks with adjacent set distances. The method comprises the following steps: acquiring tire rotation turns of the inspection robot, robot motion parameters, a shot tunnel image and an RFID platform signal fed back when the inspection robot passes through a platform in real time; calculating to obtain line sign information and pose information of the robot; and comprehensively positioning the inspection robot according to the RFID platform signal, the number of rotation turns of the tire, the line sign information and the pose information, and outputting position and pose information. According to the method, ef