Inertial navigation-map fusion positioning method based on environmental landmark detection

The invention discloses an inertial navigation-map fusion positioning method based on environmental landmark detection, and belongs to the technical field of fusion positioning, the method comprises the following steps: obtaining global navigation satellite system (GNSS) observation data, and establishing a landmark database; the method comprises the following steps: completing initialization of an inertial navigation system according to observation data of a global navigation satellite system (GNSS), and obtaining a system state prediction result according to the inertial navigation system; obtaining satellite image data, and obtaining a key frame set through a feature extraction algorithm according to the satellite image data and the system state prediction result; obtaining a matching-based validity result set of the key frames according to the key frame set and a landmark database; and according to the inertial navigation system and the key frame based on the matching validity result set, obtaining the cu