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Autonomous indoor mobile robots are gaining increasing popularity for the shared use in military and civil applications. Recently aerial or ground robots of various shapes and sizes have been developed for quick detection and observation of circumstances in calamity environments such as indoor fire spots [1, 2]. In an indoor environment, however, weak reception of GPS signals has posed additional challenges to the operation of the robots. Therefore less expensive self-localization with unaided external sensors is one of the most important problems in popularizing indoor mobile robot products.

1.获得本地时间，以“时：分：秒”显示 ； 2.指定一个开始时间，在该时间到来之后开始计数； 3.以毫秒为最小单位。-1. To obtain local time,

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