摘要
针对森林消防和应急救援需求,特别是对复杂非结构化灾害现场的快速建模及监测等难题,提出一种基于无人机和无线信标的森林消防用实时三维定位建图系统。介绍了系统构成、关键模块、算法原理等。实地测试结果表明该系统能够实现对森林环境的实时三维建图,特别是在卫星导航信号拒止/微弱环境中仍能达到良好的效果。该系统将会是森林消防中的有力工具,对于应急管理的信息化建设也有十分重要的意义。
In response to the needs of forest firefighting and emergency rescue,especially the online modeling and monitoring of complex unstructured disaster sites,a real-time SLAM(Simultaneous Localization and Mapping)system for forest firefighting was proposed based on UAV and wireless beacons.The system composition,key modules,algorithm principles were introduced.Field test results indicate that the system can achieve real-time 3D mapping of the forest environment,in particular,it still achieves very good performance in GNSS denied environment.The SLAM system will be a powerful tool in forest firefighting,it is also of great importance for the information construction and modernization of emergency response and management.
作者
张景利
张鹏
吴爱枝
蔡晔
文明
于富才
肖文科
Zhang Jingli;Zhang Peng;Wu Aizhi;Cai Ye;Wen Ming;Yu Fucai;Xiao Wenke(Beijing Tsingsens Technology Ltd.,Beijing 100095,China;Beijing Academy of Safety Science and Technology(BASST),Beijing 101100,China)
出处
《机电工程技术》
2021年第5期125-128,共4页
Mechanical & Electrical Engineering Technology
基金
北京市科技计划课题(编号:Z191100001419011)
北京市科技计划课题(编号:Z191100001419003)。
关键词
森林消防
应急救援
定位建图
无线信标
无人机
forest firefighting
emergency response
SLAM
wireless beacon
unmanned aerial vehicles
