关键词: 崩岸监测, 即时定位与地图构建, 贴近摄影测量, 多源激光点云耦合, 空地一体化建模

Abstract: [Purposes] Aiming at difficulties in data collection at land-water boundaries and insufficient full-region precision of single sensors for the Yangtze River bank collapse monitoring，this paper proposes a ground-air integrated modeling method coupling multi-source laser point clouds and close-range photogrammetry. [Methods] An “air-ground-water” integrated data acquisition system combining handheld SLAM，terrestrial laser scanning and UAV close-range photogrammetry is established.Heterogeneous point clouds are aligned via control point coarse registration and NDT-ICP two-step fine registration，and an extended point cloud constrained bundle block adjustment model with hierarchical weighting is constructed. [Findings] Tests on the Jingjiang River reach show the integrated model has a horizontal mean square error of 0.046 m and vertical mean square error of 0.072 m，with vertical accuracy improved by 49.3%versus pure image reconstruction. [Conclusions] The method overcomes single-sensor monitoring defects，supports automatic slope profile extraction and quantitative stability analysis，and provides high-precision technical support for early warning and precise management of bank collapse hazards．

Key words: bank collapse monitoring, simultaneous localization and mapping, close-range photogrammetry, multi-source laser point cloud coupling, ground-air integrated modeling