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OA

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.