The invention provides a multi-scene drone locating and three-dimensional map mapping method based on a three-dimensional laser radar. In an indoor environment, when no GPS signal exists, a SLAM algorithm based on a three-dimensional laser sensor is built; in an outdoor environment, position information provided by RTK is mainly relied on to build the three-dimensional map, and after RTK loses theGPS signal, SLAM assists in locating. An indoor and outdoor three-dimensional map is quickly built, a convenient and efficient method is provided for obtaining the three-dimensional environment map,and the efficiency of building the three-dimensional environment map in the indoor environment and the outdoor environment is improved to a great extent; on the theoretical basis of mapping optimization of the SLAM algorithm, a drone platform SLAM algorithm is built based on the three-dimensional laser sensor, the three-dimensional environment map is built in the environment without the GPS signal, the problems of indoor locating and indoor and outdoor locating merging of a drone are solved, requirements of multi-scene drone locating are met, on the basis of obtaining high-precision attitude information, laser data is merged, and the three-dimensional map is built.