The application discloses a kind of seamless positioning methods of quadrotor unmanned aerial vehicle based on multi-source fusion, belong to unmanned aerial
vehicle positioning technical field.The application according to the position accuracy factor of GNSS divides positioning area into indoor area and
outdoor area, uses VIO positioning mode in indoor;In outdoor, it uses the GNSS / VIO
loose coupling positioning mode based on federal
Kalman filter, first, in the sliding window, the idea of
time series difference is used to calibrate the external parameter of GNSS subsystem and VIO subsystem online, realize real-time spatial alignment, then use federal
Kalman filter to fuse positioning information.Simultaneously, the smooth switching scheme of
positioning system is designed, so that when the positioning area changes, the
system can accurately identify and smoothly transition.The application is proposed, enhances the high-precision positioning ability of quadrotor unmanned aerial vehicle in complex environment, provides strong three-dimensional
perception solution for the vertical application of unmanned aerial vehicle in low-altitude economy.