面向铁路巡检的低空无人机智能感知与精密定位研究

doi:10.3969/j.issn.1673-4440.2025.01.001

铁路通信信号工程技术 ›› 2025, Vol. 22 ›› Issue (1): 1-12.DOI: 10.3969/j.issn.1673-4440.2025.01.001

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面向铁路巡检的低空无人机智能感知与精密定位研究

蔡伯根¹，李智宇²，王剑¹，刘丹²，姜维¹，赵珈琪¹，王啸阳²，刘江¹，陆德彪¹

1．北京交通大学，北京 100044；
2．通号低空智能科技有限公司，北京 100070

收稿日期:2024-12-26 修回日期:2025-01-08 出版日期:2025-01-25 发布日期:2025-01-25
作者简介:蔡伯根（1966—），男，教授，博士，主要研究方向：轨道交通感知与定位，邮箱：bgcai@bjtu.edu.cn
基金资助:
国家重点研发计划资助项目（2022YFB4300501）

Research on Intelligent Sensing and Precise Positioning of Low-Altitude UAV for Railway Inspection

Cai Baigen¹, Li Zhiyu², Wang Jian¹, Liu Dan², Jiang Wei¹, Zhao Jiaqi¹, Wang Xiaoyang², Liu Jiang¹, Lu Debiao¹#br#

1. Beijing Jiaotong University, Beijing 100044, China；
2. CRSC Low-altitude Intelligence Technology Co., Ltd., Beijing 100070, China

Received:2024-12-26 Revised:2025-01-08 Online:2025-01-25 Published:2025-01-25

摘要/Abstract

摘要： 铁路巡检作为“低空+轨道”的典型应用场景之一，采用低空无人机巡检辅助或代替人工巡检，在提高巡检效率同时，可以降低巡检成本和巡检人员的事故发生率。调研国内外铁路无人机巡检技术与应用现状，指出当前存在的空-地巡检模式下无人机智能感知、“高密度短间隔”场景无人机精密定位、无人机感知与定位如何协同等问题。针对上述问题，研究融合视觉和激光雷达的低空无人机多模态智能感知技术，与组合高精度卫星导航、惯性导航、UWB和5G的多传感器精密定位技术，提升低空无人机的铁路综合巡检性能。基于两项关键技术，设计一种协同智能感知与精密定位的低空铁路无人机巡检方案，为未来铁路领域的低空无人机巡检推广应用提供支撑。

关键词: 铁路巡检, 低空无人机, 多模态智能感知, 精密定位

Abstract: As one of the typical scenarios of "low-altitude + rail", railway inspection uses low-altitude UAV (Unmanned Aerial Vehicle) based inspection to assist or replace manual inspection, which can reduce the cost of inspection and the accident rate of inspection personnel while improving inspection efficiency. First, the current situation of railway UAV inspection technology and application in China and other countries is investigated, and the corresponding problems, such as intelligent sensing of UAV in air-to-ground mode, precise positioning of UAV in high-density and short-interval scenarios and sensing and positioning coordination of UAV, are summarized. To solve the above problems, two key technologies of low-altitude UAV are researched to improve the comprehensive railway inspection performance of low-altitude UAV. One of these technologies is multi-modal intelligent sensing technology based on LiDAR and vision fusion, and the other one is multi-sensor precision positioning technology based on high-precision satellite navigation, inertial navigation, UWB (Ultra Wide Band) and 5G (5th Generation Mobile Communication Technology) fusion. Based on these two key technologies, a low-altitude railway UAV inspection scheme with collaborative intelligent sensing and precise positioning is designed, which can support the promotion and application of low-altitude UAV inspection in the railway field in the future

Key words: railway inspection, low-altitude UAV, multi-modal intelligent sensing, precise positioning

中图分类号:

蔡伯根, 李智宇, 王剑, 刘丹, 姜维, 赵珈琪, 王啸阳, 刘江, 陆德彪. 面向铁路巡检的低空无人机智能感知与精密定位研究[J]. 铁路通信信号工程技术, 2025, 22(1): 1-12.

Cai Baigen, Li Zhiyu, Wang Jian, Liu Dan, Jiang Wei, Zhao Jiaqi, Wang Xiaoyang, Liu Jiang, Lu Debiao. Research on Intelligent Sensing and Precise Positioning of Low-Altitude UAV for Railway Inspection[J]. Railway Signalling & Communication Engineering, 2025, 22(1): 1-12.

图/表 8

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面向铁路巡检的低空无人机智能感知与精密定位研究

Research on Intelligent Sensing and Precise Positioning of Low-Altitude UAV for Railway Inspection

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