广东电力2025，Vol.38Issue(3)：55-68,14.DOI:10.3969/j.issn.1007-290X.2025.03.007
面向变电站无人化巡检的多源融合即时定位与建图方法综述
A Review of Multi-source Fusion SLAM Methods for Unmanned Substation Inspection
摘要
Abstract
With the advancement of smart grid technologies,the requirements for positioning and mapping accuracy in substation inspection have been continuously increasing.However,single-sensor is difficult to meet inspection demands in complex environments.Multi-sensor fusion simultaneous localization and mapping(SLAM)technology has become particularly crucial for substation inspection applications,warranting a comprehensive review of its development.This paper firstly traces the evolutionary trajectory of multi-sensor fusion SLAM technology,analyzing its technical aspects through three dimensions:sensor types,fusion architectures,and data processing.Subsequently,the fusion architectures are categorized into loosely-coupled and tightly-coupled models,with their respective application effectiveness in substation inspection being systematically examined.Furthermore,the evaluation criteria for SLAM algorithms are summarized,encompassing critical metrics such as localization accuracy,mapping efficiency,environmental adaptability,and computational complexity,while current technical challenges are analyzed.The integration of multi-sensor fusion SLAM technology demonstrates significant potential for enhancing the positioning precision and environmental perception capabilities of substation inspection robots.Through synergistic integration of heterogeneous sensor information,this technology effectively addresses the limitations inherent in single-sensor systems,and its practical implementation in substation inspection scenarios is gradually being realized.关键词
即时定位与建图/电力巡检/多传感器融合/松耦合/紧耦合Key words
simultaneous localization and mapping/power inspection/multi-sensor fusion/loose coupling/tight coupling分类
动力与电气工程引用本文复制引用
姜寒,王凯..面向变电站无人化巡检的多源融合即时定位与建图方法综述[J].广东电力,2025,38(3):55-68,14.基金项目
国家自然科学基金项目(12374088、51877113) （12374088、51877113）
山东省高等学校青年创新技术项目(2022KJ139) （2022KJ139）
