The invention relates to a sweeper local positioning system and method fusing vision, wheel speed and inertial navigation. The system comprises a signal source subsystem, a local map subsystem and a fusion subsystem, wherein a vision module in the signal source subsystem provides the course of a vehicle relative to a lane line and distance information of the vehicle relative to the lane line, an inertial navigation module provides acceleration and angular velocity information, and an vehicle information module provides wheel speed information; the local map subsystem provides local map information of the lane line; an initialization module in the fusion subsystem judges an initial area according to the initial position of the vehicle, and a vehicle area judgment module judges a vehicle driving area according to the initialized information; and a course fusion module is used for fusing the course information to obtain an optimal course value, and a position fusion module is used for fusing to obtain an optimal position. Compared with the prior art, the sweeper local positioning system and method fusing vision, wheel speed and inertial navigation has the advantages that expensive GNSS positioning equipment and laser radar equipment are not needed, the cost is low, and the positioning can be realized in a fixed area.