High-precision positioning method and system for operation unmanned aerial vehicle in complex power transmission environment

The invention discloses a high-precision positioning method and system for an operation unmanned aerial vehicle in a complex power transmission environment, and the method comprises the steps: fusing an inertial sensor and a visual positioning method, and designing a visual inertial odometer; a GNSS positioning algorithm is combined with a visual inertial odometer, and a multi-sensor fusion framework based on an embedded development platform is designed; combining the multi-sensor fusion framework with an obstacle clearing unmanned aerial vehicle platform, and designing a multi-sensor data residual image optimization model based on real-time data stream processing; and further perfecting the multi-sensor data residual image optimization model by using a hybrid sliding window optimizer. According to the invention, an unmanned aerial vehicle multi-sensor fusion positioning strategy is designed, active, passive, local positioning and global positioning sensors are combined, so that the method meets the positioni