The invention provides an information fusion method and device, computer equipment and a computer readable storage medium. The method comprises that according to an absolute position coordinate of a navigation object at present time is determined according to a quick response code position coordinate at present time and a deviation coordinate between the quick response code position coordinate anda practical position coordinate of the navigation object, a first difference is determined according to the absolute position coordinate and a dead reckoning coordinate at present, a second noise measurement value at present time is determined according to Kalman filter gain of last time, a first noise measurement value of last time, a mean square deviation matrix of the dead reckoning coordinateof present time and the first difference, and a fusion coordinate of the navigation object at present time is determined according to the first difference, the dead reckoning coordinate of present time, the mean square deviation matrix of the dead reckoning coordinate of present time and the second noise measurement value. The method can be used to converge a filtering result, greatly improves the precision of the fusion coordinate result, and improves the accuracy in positioning the coordinate of the navigation object.