MAV Indoor Laser/INS Fusion Location Method
Biao Wang · Journal of Spacecraft TT&C Technology · 2013
An indoor navigation system is built with MIMU(Micro-Inertial Measurement Unit) assisted by an external sensor of a 2D laser range finder for MAVs(Micro Air Vehicles) because a laser finder has high accuracy and anti-interference performance.R-I-C laser scan matching algorithm is designed incorporating the features of residue points,Cox and IDC algorithms.Kalman filter is used in laser/MIMU fusion localization.Finally,the algorithm is transplanted to an ARM hardware platform and simulation shows that R-I-C algorithm meets design requirements and,with excellent performance,laser/MIMU fusion localization facilitates high-accuracy indoor location for MAVs.