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Flood and mountain flood caused by sudden rise of water level due to heavy rainfall, dike break, rainstorm and other factors, forming a complex and changeable terrain environment after disaster.??A multi-sensor fusion robot based on FPGA is designed to improve the rescue efficiency after disaster.??The robot by GPS for robot operation defined area, life characteristics of the meter, torque tester and air quality meter sensor to collect environmental data, such as structures, nonlinear all-terrain robot dynamic model, the use of six axis of gyroscope and hall sensor for robot state, data through extended kalman filter algorithm and track fusion algorithm is calculated,??To obtain the actual information of the robot in the post-disaster environment, so that the robot can carry out search and rescue operations as required.??Experimental results show that the multi-sensor fusion robot system can complete information collection and transmission in the post-disaster environment, with high stability and accuracy.