The invention belongs to the technical field of
robot positioning and
computer vision, and provides a non-intrusive positioning method,
system, device and medium for a
robot in a
cockpit, the method is realized based on a 3D
Gaussian splashing technology, and the method comprises the following steps: in an offline state, constructing a high-fidelity three-dimensional digital model capable of generating a
virtual image; before a task is executed, calculating an initial six-degree-of-freedom
pose of the visual sensor under a target
cockpit coordinate
system; in the execution process, the initial six-degree-of-freedom
pose is used as the current
estimation pose of the first iteration, and the pixel-level
luminosity error between the
virtual image and the
real image is calculated in real time; and solving a six-degree-of-freedom pose increment through a
luminosity error, superposing the six-degree-of-freedom pose increment to a current visual sensor pose, updating to obtain a current estimated pose, inputting the current estimated pose into next iteration, and carrying out drifting-free continuous
estimation of the
robot. According to the method,
centimeter-level, drifting-free and marker-free high-precision closed-loop positioning can be realized, and the
aviation airworthiness requirements are met.