Page 128 - 《武汉大学学报（信息科学版）》2025年第6期

第 50 卷 第 6 期 武 汉 大 学 学 报（ 信 息 科 学 版 ） Vol.50 No.6
2025 年 6 月 Geomatics and Information Science of Wuhan University Jun. 2025

引文格式：王英剑,胡燕祝,张明作，等 . 面向城市地下空间应急救援的灾情信息感知与通信技术及装备[J]. 武汉大学学报（信
息科学版）,2025,50(6):1150-1158.DOI:10.13203/j.whugis20240489
Citation：WANG Yingjian,HU Yanzhu,ZHANG Mingzuo,et al.Disaster Information Perception and Communication Technolo‑
gy and Equipment for Emergency Rescue in Urban Underground Space[J].Geomatics and Information Science of Wuhan Universi‑
ty,2025,50(6):1150-1158.DOI:10.13203/j.whugis20240489

面向城市地下空间应急救援的灾情信息感知与

通信技术及装备

王英剑 胡燕祝 张明作 刘坤辉 赵兴昊 梁子涵 1
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1 北京邮电大学智能工程与自动化学院，北京，100876
2 北京市燃气集团有限责任公司，北京，100032
摘 要：地震等自然灾害下的城市地下空间应急现场面临“盲、狭、乱、危”，现场灾情信息获取困难和应急通信受阻，严重
影响救援效率。为解决这一难题，提出了面向城市地下空间应急救援现场的灾情信息感知与通信技术及装备，主要包含
3 个方面：一是多态灾情信息感知与无人自主作业技术与装备，实现对灾害现场温湿度、毒害气体、三维地物环境及人员
位姿的精准感知；二是多网协同应急通信网络系统与装备，保障复杂环境下多源灾情信息的高速传输；三是智能服务平
台系统，提供灾害现场的智能化理解与辅助决策支持。通过地铁隧道、地下停车场、地下商场等多场景的实战化验证，为
城市地下空间应急救援提供了有效支撑，具有重要意义。
关键词：城市地下空间；应急救援；灾情感知；应急通信；无人装备
中图分类号：P237 文献标识码：A 收稿日期：2024‑12‑25
DOI：10.13203/j.whugis20240489 文章编号：1671‑8860（2025）06‑1150‑09
Disaster Information Perception and Communication Technology and

Equipment for Emergency Rescue in Urban Underground Space

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WANG Yingjian HU Yanzhu ZHANG Mingzuo LIU Kunhui
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ZHAO Xinghao LIANG Zihan 1
1 School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
2 Beijing Gas Group Co. Ltd, Beijing 100032, China
Abstract： Objectives: Urban underground spaces are critical components of modern urban infrastructure
but they are highly vulnerable during natural disasters due to the blind, narrow, chaotic, and dangerous con‑
ditions. These characteristics cause significant challenges to emergency rescue operations, including difficul‑
ties in acquiring accurate disaster information and maintaining reliable communication. This study aims to
develop an integrated framework for disaster information perception and communication technology and
equipment, specifically tailored for emergency rescue in urban underground spaces, to enhance rescue effi‑
ciency and effectiveness. Methods: The proposed framework is guided by the principles of intelligent, light‑
weight, standardized, and systematic and comprises three core components. The first component is multi-
state disaster information perception and autonomous operation technology. It includes 3D terrain mapping
based on simultaneous localization and mapping (SLAM) to reconstruct disaster scenes, micro-assembled
sensors for detecting temperature, humidity, and toxic gases, and social information fusion to provide a
comprehensive understanding of the disaster situation. The second one is multi-network collaborative emer‑
gency communication network technology. It involves point-to-point communication using adaptive fre‑

基金项目：国家自然科学基金（52478123）；国家重点研发计划（2020YFC1511700）。
第一作者：王英剑，博士，研究方向为风险感知、预警及应急处置。wangyingjian@bupt.edu.cn
通信作者：胡燕祝，博士，教授。yzhu@263.net