A method of point cloud splicing is proposed based on the iGPS (indoor Global Positioning System) world coordinate system. A point cloud splicing mathematical model is established and the coordinate transformation relationship in this splicing model is solved. Based on the standard ball measurement experiment, the point cloud splicing based on the robot base coordinate system and that based on the iGPS coordinate system are realized, respectively. The research results show that the point cloud splicing method based on the iGPS world coordinate system is not affected by the positioning accuracy of robots, and moreover the splicing precision is high.