具有广泛应用前景的微型无人机已成为各国学者的研究热点，而不依赖卫星导航系统的室内微型无人机自主导航引导技术是研究重点之一。结合近年国内外室内无人机自主导航引导技术发展情况，讨论了依靠自身传感器实现自主导航引导的关键 技术问题， 详细分析了无人机位姿的解算、无人机动态避障和同步定位与地图构建的关键技术的实现情况及其难点。最后，对室内无人机自主导航引导技术进行了展望。-Has broad application prospects miniature UAV research scholars from various countries have become hot spots, instead of relying on satellite navigation system, indoor miniature UAV autonomous navigation guidance technology is the focus of the study. At home and abroad in recent years, combined with the indoor UAV autonomous navigation to guide technological developments discussed on its own sensors to achieve autonomous navigation to guide the key technical issues, a detailed analysis of the position and orientation of the solver drone, drones dynamic obstacle avoidance and simultaneous localization and mapping of the key technologies and their implementation difficult. Finally, the indoor UAV autonomous navigation guidance technology were discussed.