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With the extensive development and utilization of urban underground space, coal mines, and other indoor areas, the indoor positioning technology of these areas has become a hot research topic. This paper proposes a robust localization method for indoor mobile platforms. Firstly, a series of coding graphics were designed for localizing the platform, and the spatial coordinates of these coding graphics were calculated by using a new method proposed in this paper. Secondly, two spatial resection models were constructed based on unit weight and Tukey weight to localize the platform in indoor environments. Lastly, the experimental results show that both models can calculate the position of the platform with good accuracy. The space resection model based on Tukey weight correctly identified the residuals of the observations for calculating the weights to obtain robust positioning results and has a high positioning accuracy. The navigation and positioning method proposed in this study has a high localization accuracy and can be potentially used in localizing practical indoor space mobile platforms.

The Indoor Localization of a Mobile Platform Based on Monocular Vision and Coding Images