Indoor localization, navigation and mapping for quad-rotor

While localizing and navigating quad-rotor, making use of the data collected by laser range-finder in the process of localization and navigation incrementally build a global map, and then achieve localization and navigation for the quad-rotor again by the global map established. Based on semi-structured indoor environment characteristics, this paper builds feature map of indoor environment by feature points and feature segments which are extracted from the data collected by laser range-finder. Quad-rotor takes advantage of feature points to realize indoor self-localization, simultaneously draws up navigation algorithm relied on the number of feature points, it will establish local map again when flying to next position, and then merge local map with the current global map to update the global map.