The invention provides an equipment pose obtaining method. The method comprises the steps of acquiring IMU data of an inertial measurement unit; estimating a basic pose and IMU parameters of the equipment based on the IMU data by adopting a cluster optimization method, wherein processing is carried out by adopting any one of the following operations or a combination of any more of the following operations: constraining the basic pose of the equipment by adopting the static state of the equipment; optimizing the IMU parameters by adopting a loose coupling cluster optimization method; integrating the IMU data to obtain a pose change, obtaining a second pose of the equipment according to the pose change and the basic pose, and compensating the difference between the second pose and the updated basic pose after the basic pose is updated; predicting the future pose of the equipment by utilizing a deep learning network; and according to the pose of the equipment corresponding to the historical image frame and the pose of the equipment corresponding to the current image frame, deforming the historical image frame to obtain the current image frame. The invention further provides corresponding equipment and a storage medium.