基于LiDAR-IMU-光流紧耦合的GNSS拒止隧道无人机定位方法

doi:10.13474/j.cnki.11-2246.2026.0804

测绘通报 ›› 2026, Vol. 0 ›› Issue (8): 21-27.doi: 10.13474/j.cnki.11-2246.2026.0804

基于LiDAR-IMU-光流紧耦合的GNSS拒止隧道无人机定位方法

汪一村^1,2, 薛可宠³, 叶亮亮³, 陈殿干^1,2, 余菲艳⁴

1. 北京城建勘测设计研究院有限责任公司, 北京 100101;
2. 温州幸福轨道数智科技有限公司, 北京 100101;
3. 温州市铁路与轨道交通投资集团有限公司, 浙江温州 325035;
4. 温州大学建筑工程学院, 浙江温州 325035

收稿日期:2026-01-28 发布日期:2026-09-12
作者简介:汪一村(1980—)，男，硕士，高级工程师，主要研究方向为智能巡检技术。E-mail：wangyicun@cki.com.cn

UAV positioning method based on LiDAR-IMU-optical flow tightcoupling in GNSS-denied tunnel

Wang Yicun^1,2, Xue Kechong³, Ye Liangliang³, Chen Diangan^1,2, Yu Feiyan⁴

1. Beijing Urban Construction Survey and Design Institute Co., Ltd., Beijing 100101, China;
2. Wenzhou Xingfu Rail Transit Digital Intelligence Technology Co., Ltd., Beijing 100101, China;
3. Wenzhou Railway and Rail Transit Investment Group Co., Ltd., Wenzhou 325035, China;
4. School of Architectural Engineering, Wenzhou University, Wenzhou 325035, China

Received:2026-01-28 Published:2026-09-12

摘要/Abstract

摘要： [目的] 针对GNSS拒止、低照度、弱纹理隧道中无人机定位易退化的问题，本文提出了一种LiDAR-IMU-光流紧耦合定位方法。[方法] 在LiDAR-IMU因子图中引入光流速度因子，并结合面向管片接缝和壁面结构的特征提取、FPGA硬件同步与联合外参标定，形成可部署的多传感器融合方案。[结果] 试验表明，400 m仿真隧道中ATE均值为0.127 m，较LIO-SAM和FAST-LIO2分别降低41.2%和28.5%；2.4 km实地往返试验的闭环平移误差为0.83 m，Jetson Xavier NX上的平均处理时间为51.9 ms/帧。[结论] 该方法在隧道长直段LiDAR配准退化时仍具备在线定位潜力，但在极弱纹理场景下仍受光流观测不足和缺少回环约束的限制。

关键词: 无人机定位, GNSS拒止环境, 隧道巡检, 多传感器融合, 因子图, 光流

Abstract: [Purposes] A LiDAR-IMU-optical flow tightly coupling positioning method is proposed for UAV positioning in GNSS-denied tunnel with low illuminance and weak textures. [Methods] Optical flow velocity factors are introduced into a LiDAR-IMU factor graph together with tunnel-oriented feature extraction,FPGA-based hardware synchronization,and joint extrinsic calibration. [Findings] Experiments show that in a 400 m simulated tunnel,the mean ATE is 0.127 m,which is 41.2% and 28.5% lower than LIO-SAM and FAST-LIO2,respectively.In a 2.4 km field round-trip test,the loop translation error is 0.83 m.The average processing time on an NVIDIA Jetson Xavier NX is 51.9 ms per frame. [Conclusions] The method preserves online localization potential when LiDAR registration degenerates in long straight tunnel sections,but performance is still limited by extremely weak textures and the lack of loop-closure constraints．

Key words: UAV positioning, GNSS-denied environment, tunnel inspection, multi-sensor fusion, factor graph, optical flow

中图分类号:

P228

汪一村, 薛可宠, 叶亮亮, 陈殿干, 余菲艳. 基于LiDAR-IMU-光流紧耦合的GNSS拒止隧道无人机定位方法[J]. 测绘通报, 2026, 0(8): 21-27.

Wang Yicun, Xue Kechong, Ye Liangliang, Chen Diangan, Yu Feiyan. UAV positioning method based on LiDAR-IMU-optical flow tightcoupling in GNSS-denied tunnel[J]. Bulletin of Surveying and Mapping, 2026, 0(8): 21-27.

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链接本文: http://tb.chinasmp.com/CN/10.13474/j.cnki.11-2246.2026.0804

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基于LiDAR-IMU-光流紧耦合的GNSS拒止隧道无人机定位方法

UAV positioning method based on LiDAR-IMU-optical flow tightcoupling in GNSS-denied tunnel

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