Milemeter method based on multi-sensor fusion

The invention provides a speedometer method based on multi-sensor fusion, and relates to the technical field of navigation and positioning. The method comprises the following steps: acquiring an event stream output by an event camera and extracting angular points, and tracking and triangularizing the extracted angular points by using an LK optical flow method to obtain a trajectory under a VIO local coordinate system as a pose estimation result of the VIO; initializing the GNSS to obtain a coordinate trajectory under the ECEF, and aligning the coordinate trajectory with a trajectory under a VIO local coordinate system to obtain a pose estimation result of the GNSS; on the basis of nonlinear joint optimization and according to original measurement data obtained from the event camera, the IMU and the GNSS, a joint optimization target function is constructed, the Ceres optimization library is used for solving the target function to optimize the two pose estimation results, and the optimized pose estimation resul