基于改进MSCKF的无人机室内定位方法

王思鹏,杜昌平,宋广华,郑耀

Indoor positioning method of UAV based on improved MSCKF algorithm

Si-peng WANG,Chang-ping DU,Guang-hua SONG,Yao ZHENG

图 2 标志点检测流程

Fig.2 Marks detection procedure