The invention provides an RTK positioning method and device based on slam positioning result assistance, equipment and a medium, auxiliary optimization is provided for RTK solution by using a slam positioning result, a double-difference observation equation is constructed by taking the slam positioning result as an initial value, and subsequent filtering
processing is performed, which can be understood that the slam positioning result is taken as a filtering initial value, so that the filtering efficiency is effectively improved, and the real-time performance of the
system is improved. The number of filtering iterations is reduced, and the
floating point solution precision is improved; meanwhile, in the RTK solution, auxiliary optimization is provided for the RTK solution by using the slam positioning result, and the
ambiguity fixing efficiency and the
ambiguity fixing rate are improved. Besides, in the RTK solution, auxiliary optimization is provided for the RTK solution by using the slam positioning result, and the slam positioning result is used as a fixed solution
verification initial value, so that the precision of the fixed solution is improved. In conclusion, the scheme disclosed by the invention effectively improves the RTK positioning precision, efficiency and robustness.