四旋翼无人飞行器的室内定位、导航与建图

根据室内环境半结构化的特点，通过激光扫捕仪采集的数据得到特征点与特征线段，从而建立出室内环境的特征地图。利用特征点实现四旋翼无人飞行器在室内对自身的定位，同时根据现阶段特征点的个数制定导航算法，当四旋翼无人飞行器飞到下一位置时，再次建立局部地图，与此前建立的全局地图进行融合，实现全局地图的更新。

Indoor Location, Navigation and Map Building of Four Rotor UAV

According to semi-structured indoor environment characteristics, obtaining the feature point and line segments from data points collected by the laser scanner, and then the indoor environment feature map was established. Making use of feature points to realize four rotor UAV self-location indoor, while developing navigation algorithm based on the number of feature points at this stage. When the four rotor UAV fly to the next position, a local map was established, and it was integrated with the established global maps, to achieve the global map updates.