Fodder feeding robot positioning and planning method, device and equipment and medium

The embodiment of the invention provides a feed feeding robot positioning and planning method, device and equipment and a medium, and relates to the field of aquaculture, and the method comprises the steps: obtaining controlled quantity information and noise information obtained through measurement, and determining and predicting a current state based on the controlled quantity information and the noise information. And determining a prediction prior covariance based on the noise information, and obtaining sensor measurement information. A modified current state is determined based on the predicted current state, the predicted prior covariance, and the metrology information, where the modified current state includes the location information. And performing path planning based on the corrected position information in the current state. In this way, the positioning precision of the feed feeding robot can be improved. And furthermore, path planning is performed based on the corrected position information in the