基于超宽带和激光雷达的隧道无人机融合定位方法研究  

Research on Fusion Localization Method for Tunnel UAV Based on Ultra-Wideband and Lidar

作　　者：李强 Li Qiang(CHN ENERGY Institute of Transportation Technology Research,Beijing,China)

机构地区：[1]国能运输技术研究院有限责任公司,北京

出　　处：《科学技术创新》2025年第10期39-42,共4页Scientific and Technological Innovation

摘　　要：本研究针对室内环境(特别是隧道)中GNSS信号不可用问题,提出融合激光雷达(LiDAR)与超宽带(UWB)的自主飞行器定位方法。首先,LiDAR扫描隧道构建三维地图,UWB节点于关键位置提供精确距离信息。在地图构建阶段,采用期望最大化(EM)算法辅助生成二维网格地图,并用增强高斯混合模型(GMM)捕捉环境特征。定位时,结合里程计、LiDAR点云匹配和UWB距离测量约束,优化全局位姿估计。基于贝叶斯估计的融合算法整合LiDAR和UWB数据,实现高精度实时定位。实验显示,在无GNSS信号的隧道中,该方案达到亚米级定位精度,为室内飞行器提供可靠定位。本研究为提升隧道自主作业效率和安全性提供了有效解决方案,前景广阔。This study introduces a positioning method for autonomous aerial vehicles in indoor environments,particularly tunnels,where GNSS signals are unavailable.The method integrates Light Detection and Ranging(LiDAR)and Ultra-Wideband(UWB)technology.LiDAR scans the tunnel to construct a 3D map,while UWB nodes provide precise distance information.During map construction,the Expectation-Maximization(EM)algorithm creates a 2D grid map,and an enhanced Gaussian Mixture Model(GMM)captures environmental features.Positioning is optimized using odometer,LiDAR point cloud matching,and UWB distance measurement constraints.A Bayesian estimation-based fusion algorithm integrates LiDAR and UWB data for high-precision,real-time positioning.Experimental results show sub-meter accuracy in tunnels,enhancing efficiency and safety for autonomous aerial operations.

关 键 词：超宽带(UWB) 激光雷达(LiDAR) 隧道无人机 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]