Unmanned aerial vehicle mapping method, system and terminal based on multi-sensor fusion

The invention discloses an unmanned aerial vehicle mapping method, system and terminal based on multi-sensor fusion, and the method comprises the steps: obtaining laser radar information in a to-be-measured region through a laser radar, and obtaining pixel coordinate information through multiple conversion; acquiring optical image information in the to-be-detected area by using a binocular camera, and inputting three-primary color values of all original point clouds in the optical image information into all pixel point clouds in the pixel coordinate information to obtain final point clouds; and acquiring inertial measurement data and flight attitude information by using an inertial measurement unit, inputting the inertial measurement data, the flight attitude information and the final point cloud into a three-dimensional mapping module, and outputting a three-dimensional map of the to-be-measured area. Through the unmanned aerial vehicle platform carrying multiple sensors, a matched software system is designe