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This paper proposes a local estimation system which combines Cell Divide Algorithm with low-cost GPS/INS fused by Extended Kalman Filter(EKF) for localization of Quad-rotor when it returns to the departure point. In the research, the low-cost GPS and INS are fused by EKF to reduce the local error of low-cost GPS and the accumulative error of INS due to continuous integration of sensor error values. When the Quad-rotor returns to the departure point in the fastest path, a moving path can be known because it moves straight, where Cell Divide Algorithm is used to divide moving route into the cells. Then it determines the closest position of data of GPS/INS system fused by EKF to obtain the improved local data. The proposed system was verified through comparing experimental localization results obtained by using GPS, GPS/INS and GPS/INS with Cell Divide Algorithm respectively

Outdoor Localization for Returning of Quad-rotor using Cell Divide Algorithm and Extended Kalman Filter