The invention discloses an unmanned aerial vehicle flight
pose calibration method and device based on multi-
sensor fusion, and belongs to the field of dynamic
pose measurement. Comprising a plurality of integrated dynamic
pose measurement base stations which are arranged around a
measurement site and cover all-region signals, and each
base station comprises an
infrared positioning module, an ultra-
wideband reference module and the like; the miniaturized multi-
sensor fusion target is installed on a motion carrier of an unmanned aerial vehicle and comprises an inertial navigation measurement unit, an
infrared lamp bead, an ultra
wide band master control module and the like. The upper computer is used for fusing the
infrared positioning data, the ultra-
wideband data and the inertial navigation measurement data; and when the positioning confidence of the infrared positioning data is lower than a threshold value, replacing
original data with pseudo-infrared positioning data generated by a pseudo-infrared positioning model for fusion. According to the invention, the pose of the unmanned aerial vehicle can be monitored in real time, the problem of large-field-of-view, high-precision and full-angle dynamic pose measurement is solved, various complex dynamic scenes are fully covered, and the accuracy and reliability of dynamic pose measurement are effectively improved.