The invention provides a global positioning method based on geometric information, and relates to the technical field of autonomous positioning of mobile robots. According to the method, the current sensing information of the mobile robot is obtained, a three-dimensional point cloud map is generated by adopting an SLAM algorithm, the three-dimensional point cloud map is divided into global sub-maps, the robot moves to establish a local map, a global descriptor is calculated, an optimal local sub-map is found in the global sub-maps, the local descriptors of the optimal local sub-map and the global sub-maps are calculated, a corresponding relation of the local descriptors is found by utilizing a kd-tree, and error matching is removed by utilizing a geometric consistency algorithm; for the found corresponding relation, rough pose transformation of the local map and the global sub-maps is obtained by utilizing an absolute positioning algorithm; finally, fine matching is carried out by utilizing an ICP or NDT algorithm, the laser scanning and a global map are aligned finally, and the pose relation of the robot relative to the global map is obtained. The method is wide in application scene, the global positioning can be realized only by a laser range finder, and the method has the characteristics of easy operation and high precision.