Radiation surveying and mapping device and method based on indoor unmanned aerial vehicle

The invention discloses a radiation surveying and mapping device and method based on an indoor unmanned aerial vehicle, and relates to the technical field of radiation detection, the device comprises an indoor unmanned aerial vehicle and a remote control platform, the indoor unmanned aerial vehicle carries a radiation detector with directivity, a position sensor, an I/O module, a storage unit and a data processor, the radiation detector is used for acquiring radiation data of a to-be-detected space, and the position sensor is used for acquiring position data of the detector; the data processor is used for receiving the position data from the position sensor and the radiation data from the radiation detector, carrying out fusion calculation on the position data and the radiation data, finishing radiation mapping and radiation source positioning by utilizing a radiation mapping algorithm and a radiation source positioning algorithm, and storing a calculation result in the storage unit; the remote control platfo