室内无人机在地下空间测绘中的应用研究

Application of indoor UAV in underground space surveying

随着各行业对无人机应用需求的快速增长及相关技术的发展,室内无人机应运而生,其可以摆脱全球导航卫星系统(GNSS)信号定位的限制,依靠视觉和激光雷达(LiDAR)等技术进行自身的空间定位,在仓库巡检管理、物流、室内空间巡查、地下空间数据采集、应急测绘等领域有广阔的应用前景。本文以某地下车库为例,介绍了搭载LiDAR的室内无人机在地下空间测绘中的应用,通过多架次飞行获取从地上到地下车库连续空间的三维激光点云,并详细介绍了外业飞行、点云配准拼接、平立剖图绘制等整个过程及注意事项,为室内无人机在地下空间测绘中的应用提供了有益的借鉴。

Indoor UAV have been created to get out such restrictions as GNSS signal positioning and relying on vision and LiDAR technology for its own spatial positioning with the rapid growth of the demand for UAV applications in various industries and the development of related technologies.It has been widely applied in the fields of warehouse inspection management,logistics,indoor space inspection,underground space data acquisition,emergency mapping and many others.The application of indoor UAV equipped with LiDAR in underground space mapping has been introduced in this paper by taking an underground garage as an example,and 3D laser point clouds in continuous space has been obtained from the ground to the under⁃ground garage through multiple flights.The whole process of field flight,point cloud registration splicing,horizontal and vertical profile drawing and other precautions have been introduced in details,which provide useful reference for the application of indoor UAV in underground space surveying.