Robot global positioning method and device

The invention provides a robot global positioning method. The robot global positioning method comprises the following steps: acquiring a global point cloud map and an estimated initial pose of a robot; based on the global point cloud map and the estimated initial pose of the robot, optimizing the initial pose of the robot; acquiring measurement data of the inertial measurement unit and the laser radar; predicting the pose of the robot in the operation process based on the optimized initial pose of the robot, the measurement data of the inertial measurement unit and the measurement data of the laser radar; the pose of the robot in the operation process is updated through the NDT matching model and the UKF prediction model. According to the method, the relatively reliable pre-estimated pose is provided for robot operation in real time; according to the estimated pose of the robot, the NDT and UKF fusion method is adopted to complete robot pose optimization and covariance updating corresponding to the real-time