The invention relates to a multi-source fusion positioning method and
system for a
wharf autonomous operation stacking
machine. The method comprises the following steps: acquiring the current position of the stacking
machine, and judging whether the current position is in a
transition state outside a box area or an operation state inside the box area: if the current position is in the
transition state outside the box area, acquiring the current
satellite signal intensity, and judging whether the current
satellite signal intensity is higher than a preset
signal intensity threshold value, and if so, entering a real-time dynamic global
satellite positioning mode, acquiring first positioning information, otherwise, entering an
inertial measurement unit and
laser radar fusion positioning mode, and acquiring second positioning information; if the operation state is in the box area, entering a visual sensor and magnetic induction
sensor fusion positioning mode, and obtaining third positioning information; and after the positioning information is obtained, returning to re-judge the position state of the stacking
machine. Compared with the prior art, the method has the advantages that the positioning precision of the stacking machine in
safe operation in a complex scene is improved, and the like.