The invention provides an electric power inspection robot positioning method based on multi-sensor fusion, and the method comprises the steps: firstly carrying out the preprocessing of data collectedby a camera, an IMU and a speedometer and the calibration of a system, and completing the initialization of a robot system; secondly, extracting a key frame, and performing back-end optimization on the position, the speed and the angle of the robot and the bias of a gyroscope in the IMU by utilizing the real-time visual pose of the key frame to obtain the real-time pose of the robot; then, constructing a key frame database, and calculating the similarity between the current frame image and all key frames in the key frame database; and finally, performing closed-loop optimization on the key frames in the key frame database forming the closed loop, and outputting the pose after closed-loop optimization to complete positioning of the robot. According to the back-end optimization method provided by the invention, the positioning precision is improved; and closed-loop optimization is added in the visual positioning process, so that accumulated errors existing in the positioning process areeffectively eliminated, and the accuracy under the condition of long-time operation is guaranteed.