When the four-rotor UAV is applied to the rot detection of large-scale chimney inner wall in thermal power plants,due to the characteristics of the spatial information shielding in the chimney,the traditional localization and communication scheme cannot meet the flight requirements of the UAV.In order to solve this problem,a fast localization algorithm of UAV,which suitable for the inner chimney image collecting aircraft,is designed by using two-dimensional ring laser radar device combined with prior knowledge of chimney structure.At the same time,the relay aircraft is designed to provide the data communication service between the working aircraft inside the chimney and the ground control center.The experimental and simulation results show that the device and method can solve the positioning and data communication problems of the four-rotor UAV in the interior of the chimney,and lay a foundation for the improvement of automating degree and the follow-up study of the corrosion detection situation of the large chimney inner wall of a thermal power plant.