An indoor navigation system is built with MIMU (Micro-Inertial Measurement Unit) assisted by an external sensor of a 2D laser range finder for MAVs (Micro Air Vehicles) because a laser finder has high accuracy and anti-interference performance.R-I-C laser scan matching algorithm is designed incorporating the features of residue points,Cox and IDC algorithms.Kalman filter is used in laser/MIMU fusion localization.Finally,the algorithm is transplanted to an ARM hardware platform and simulation shows that R-I-C algorithm meets design requirements and,with excellent performance,laser/MIMU fusion localization facilitates high-accuracy indoor location for MAVs.%针对激光测距仪精度高、抗干扰能力强等优点,选用二维激光测距仪为外部传感器,辅助MIMU(微惯性测量组合)组成微小型飞行器的室内导航系统；结合留点(Residue Points)、Cox和IDC算法特点,设计了R-I-C(留点、IDC和Coxl)匹配算法组合策略(R-I-C激光扫描匹配算法),采用Kalman(卡尔曼)滤波器进行激光/MIMU融合定位；最后,在以ARM为核心处理器的硬件平台上进行定位仿真.仿真结果表明:R-I-C算法满足设计要求；激光/MIMU融合定位方法具有良好的性能,能实现微小型飞行器的室内高精度定位.
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