The invention discloses an indoor unmanned aerial
vehicle positioning and navigation method based on tight
coupling of a
laser radar and an IMU, and the method comprises the steps: collecting data based on the
laser radar and the IMU, and carrying out the down-sampling
processing of the data; packaging the
radar data to be processed currently and the IMU data,
synchronizing the radar data and the IMU data, and confirming that the radar data and the IMU data are aligned in
time sequence to obtain radar and IMU data streams; taking the obtained radar and IMU data streams as input to carry out
forward propagation and integration to obtain rough
pose estimation, then carrying out motion compensation based on back propagation, and removing radar
point cloud distortion to obtain a current state; evaluating whether the current state
estimation is accurate or not based on residual calculation; and if not, estimating
pose transformation by using iterative error Kalman filtering until the increment is smaller than a threshold value, then mapping according to the
pose and updating the feature map, and carrying out unmanned aerial
vehicle positioning navigation. According to the method, radar and IMU data are fused, and high-precision low-drift tight
coupling mapping is realized through
time sequence alignment, filtering, motion compensation and iterative optimization.