Positioning and posture determining method and system of mobile object

The invention discloses a positioning and posture determining method and system of a mobile object. A unified extended kalman filtering model integrating laser radar control target data, inertial measurement unit data and odometer data is constructed through an inertial measurement unit, an odometer and laser radar. The model is built on the basis of a dynamical model and an error model of the inertial measurement unit, the laser radar control target data are introduced into a kalman filtering equation, the error state vector of IMU/odometer combination is calculated, error divergence is limited, and thus high-precision position and posture are obtained; therefore, high-precision positioning and posture determining of the mobile object are achieved without satellite navigation signals.