科技创新与应用2026，Vol.16Issue(4)：27-30,4.DOI:10.19981/j.CN23-1581/G3.2026.04.006
基于多传感器融合的无人机隧洞自主导航与避障技术研究
朱戴远1
作者信息
- 1. 恩施职业技术学院,湖北 恩施 445000
- 折叠
摘要
Abstract
In the complex space of tunnels with signal shielding,extremely poor illumination,and dense obstacles,unmanned aerial vehicles(UAVs)face technical obstacles such as wide blind zone sensing,large pose estimation errors,and lagging path planning and obstacle avoidance response.It is difficult for traditional single sensing methods to support its high-precision autonomous flight operations.This paper focuses on the spatial characteristics and flight requirements of the tunnel,builds a fusion mechanism for heterogeneous sensor alignment and state estimation,designs a robust mapping and positioning model for occlusion and interference scenarios,and proposes path adaptive optimization and real-time obstacle avoidance control strategies.It achieves highly reliable autonomous navigation targets under perceptual uncertainty and provides key technical support for tunnel space operations.关键词
多传感器融合/隧洞导航/三维建图/避障控制/无人机Key words
multi-sensor fusion/tunnel navigation/3D mapping/obstacle avoidance control/UAV分类
信息技术与安全科学引用本文复制引用
朱戴远..基于多传感器融合的无人机隧洞自主导航与避障技术研究[J].科技创新与应用,2026,16(4):27-30,4.
