A quadrotor helicopter localization method using 2D laser scanner in structured environment

A method of localization for quadrotor helicopter using 2D laser scanner in structured environment is discussed. In the case of no GPS signal, a research on obtaining location and orientation only relying on the perception information provided by the airborne laser scanner is carried out, in order to correct the data of the inertial measurement unit and to improve the aircraft self-positioning accuracy. According to the characteristics of data obtained by the two-dimensional laser scanner, line feature extraction, segment matching, and iterative closest point ICP algorithm is used to obtain the horizontal position and orientation estimation. In the experiment, HOKUYO UTM30LX laser scanner is used to simulate the methods described above, and verify the correctness.