Abstract:This study aims to address the precise landing navigation problem of UAVs in GPS-denied environments by proposing an anti-interference navigation scheme based on a LiDAR SLAM algorithm. The research focuses on designing a ground-based laser beacon system and establishing a nonlinear motion model integrated with Gaussian noise and a LiDAR observation model. By employing an extended Kalman filter to estimate the positions of laser landmarks in real time, precise prediction and planning of UAV landing trajectories are achieved. Simulation results demonstrate that the proposed method meets the accuracy and real-time requirements for UAV precision landing with appropriate parameter settings, providing reliable technical support for UAV navigation in complex environments.