The application provides a kind of underground poor
texture space high-precision mapping method based on
solid displacement coordination rectification, relating to map construction technical field, method includes: obtaining the sensor data of
sensor node based on the determination of underground poor
texture space structure;Calculate the initial position data of unmanned aerial vehicle;Through unmanned aerial vehicle receives sensor data, and generate unmanned aerial vehicle position data in combination with initial position data of unmanned aerial vehicle and unmanned aerial vehicle
laser radar detection data;Through segmented
solid displacement coordination
odometry, correct unmanned aerial vehicle position data;Obtain
point cloud data for describing underground poor
texture space structure;Sensor data, initial position data of unmanned aerial vehicle, corrected unmanned aerial vehicle position data and
point cloud data are fused to obtain fusion data, and each
sensor node is used as feature point in mapping process, and the high-precision map of underground poor texture space is established.The application can accurately establish the high-precision map of underground poor texture space, and effectively improve the efficiency of
underground space management and application.