The invention provides a multi-
sensor fusion ship berthing sensing auxiliary method and
system, and the method comprises the steps: obtaining ship-borne
laser radar point cloud data and ship-borne IMU
odometer data, carrying out the
point cloud motion compensation of the ship-borne
laser radar point cloud data, and issuing the compensation; feature point clouds of the point
cloud data are extracted, and shipborne
laser radar point
cloud data integrating the feature point clouds are issued; acquiring shipborne IMU data and shipborne laser radar
odometer data, integrating the shipborne IMU data in real time, and issuing a shipborne IMU
odometer; acquiring shipborne RTK data, detecting and judging a
satellite signal state, and issuing shipborne RTK odometer data; acquiring shipborne RTK odometer data and shipborne laser radar point
cloud data integrated with feature point cloud, calculating and optimizing the current state
pose of a ship, issuing a shipborne laser radar odometer and reconstructing a three-dimensional navigation scene; a hardware external parameter
calibration result is obtained, a ship-borne IMU odometer coordinate
system, a ship-borne laser radar odometer coordinate
system and a ship-borne RTK odometer coordinate system are unified, and a three-dimensional navigation scene and all odometer data are visualized.