Localization using uniaxial laser rangefinder and IMU for MAV

In this paper we describe a localization method based on an inertial measurement unit (IMU) and a uniaxial laser rangefinder suitable for use on a micro aerial vehicle (MAV). Because it is not possible to obtain the surrounding conditions all at once using the uniaxial rangefinder, it is necessary to determine the position in the environment in terms of the MAV´s own movements. We demonstrated our method experimentally on a Quadrotor multicopter flying in a wide area enclosed by pillars.