Indoor location of UAV based on QR code

In order to address the problem of cost-effective deployment of high precision in UAV indoor positioning, this paper suggests an affordable and non-distorting technique of in-room location by QR Codes. The approach focuses on resolving the problems that QR codes are difficult to deploy in the actual environment and easy to stain after prolonged usage, and that it is necessary to compute the nose angle for navigation. First, QR code contamination problem is solved through the redundant error tolerance algorithm. Secondly, the problem of sparse QR code deployment is solved through multiple UAV height lifting and correction. Finally, calculate the difference between the UAV and QR code and the map coordinates and the aircraft head angle of the UAV are inversely calculated. The actual measurement shows that the proposed method has good performance and application scenarios, the positioning accuracy is less than 5 cm, and the attitude orientation deviation is not more than 5°, meeting the requirements of unmanned indoor positioning.