Visual radar combined unmanned aerial vehicle positioning method based on multi-modal scale normalization

The invention discloses a visual radar and unmanned aerial vehicle combined positioning method based on multi-modal scale normalization, and the method comprises the steps: collecting visual radar multi-modal data, including an unmanned aerial vehicle image and target distance information provided by a radar; marking corresponding bounding boxes according to different positions of the unmanned aerial vehicle in the image; recombining the unmanned aerial vehicle image slices into a batch two-dimensional image slice structure according to the target distance information by adopting a distance sensing image adaptive slice network to obtain training data; constructing a scale normalization network based on modal fusion, and training the normalization network by using the training data; constructing an unmanned aerial vehicle positioning visual model, and training the visual model by using the training data; and inputting a test unmanned aerial vehicle image and target distance information into the distance sensin