To conquer the idle mapping problem of passive simultaneous localization and mapping for UAV,an active SLAM algorithm is proposed based on constrained local sub-map. First,local sub-map is built based on constrained local sub-map filtering,and then,the optimal solution is searched by the active SLAM objective function,and at last,the local sub-map and the global map are fused. Based on the simplified UAV plane motion model,this algorithm is simulated and tested. Simulation results show that this algorithm is effective and feasible.%针对传统被动SLAM算法存在盲目地图构建的问题，提出了基于约束局部子图的无人机主动SLAM算法。首先，在约束局部子图滤波方法的基础上创建局部地图，接着通过构建的主动SLAM的目标函数寻找局部地图的最优解，最后将局部地图和全局地图进行融合。针对无人机系统进行仿真，验证了基于局部子图的主动SLAM算法的有效可行性。
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