Positioning method using laser radar in indoor unknown environment

The invention discloses a positioning method using laser radar in an indoor unknown environment. Based on traditional laser radar positioning, map construction in the indoor unknown environment is finished, feature matching of line segments and angular points is carried out based on the constructed map, a mixed feature matching filtering model is provided, and real-time accurate positioning in the indoor unknown environment is achieved. The positioning method using the laser radar in the indoor unknown environment is simple, is easy to implement, avoids adverse effects of the indoor environment on the positioning process, and is suitable for engineering application.