CAJ | 학술논문

根据室内环境半结构化的特点，通过激光扫描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。
근거실내배경반결구화적특점，통과격광소묘의채집적수거득도특정점여특정선단，종이건립출실내배경적특정지도。이용특정점실현사선익무인비행기재실내대자신적정위，동시근거현계단특정점적개수제정도항산법，당사선익무인비행기비도하일위치시，재차건립국부지도，여차전건립적전국지도진행융합，실현전국지도적경신。
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 inte-grated with the established global maps, to achieve the global map updates.