The invention discloses a multi-source fusion unmanned aerial vehicle indoor and outdoor positioning method and system. The system comprises a sensing layer and a decision making layer, wherein the sensing layer comprises a plurality of sensors, the decision making layer comprises a visual odometer system, a laser odometer system, an IMU odometer system and two multi-source fusion systems. IMU information is selected, relatively good initial gesture and gravity direction are provided, and the scale problem of a visual odometer and the inherent defect of scale drift are made up; high accuracy information of a laser radar and the visual odometer are fused, the motion estimation error is reduced, and the system robustness is improved; and with the addition of GPS absolute position correction, and an accumulated error of the system is further reduced. By the method, accurate positioning information can be generated according to true motion track of a vehicle, the positioning accuracy is high, indoor and outdoor seamless switching can be achieved, the positioning stability of the vehicle in an indoor and outdoor environment is improved, high robustness is achieved, and the system is suitable for indoor and outdoor positioning of a pilotless automobile in a large scene.