The invention discloses a multisensor fusion-based unmanned aerial vehicle SLAM (
simultaneous localization and mapping) navigation method and a multisensor fusion-based unmanned aerial vehicle SLAM
navigation system. The multisensor fusion-based unmanned aerial vehicle SLAM navigation method comprises the following steps: acquiring image information of the surrounding environment of an unmanned aerial vehicle in real time, and acquiring
pose information of the unmanned aerial vehicle according to the image information; acquiring depth information of the unmanned aerial vehicle and an obstaclein real time, fusing the
pose information and the depth information to construct an obstacle
depth map, and acquiring global position information of the unmanned aerial vehicle according to the obstacle
depth map; according to the global
pose information and the obstacle
depth map, generating a flight path of the unmanned aerial vehicle by an online dynamic path
planning method, and controlling autonomous obstacle-avoiding flight of the unmanned aerial vehicle according to the flight path. Through the multisensor fusion-based unmanned aerial vehicle SLAM navigation method and the multisensor fusion-based unmanned aerial vehicle SLAM
navigation system, real-time localization and mapping of the unmanned aerial vehicle in a complex environment can be achieved; compared with the conventional unmanned aerial vehicle navigation technology, the navigation technology adopted by the invention has the advantages as follows: real-time localization and mapping and autonomous navigation are achieved, and the intelligence degree and the navigation accuracy of the unmanned aerial vehicle are improved.