Air-ground unmanned platform collaborative continuous risk map construction method in cross-country scene

The invention provides a collaborative continuous risk map construction method for an air-ground unmanned platform in an off-road scene, which can fuse terrain perception information from different perspectives of the air-ground unmanned platform, and can supplement information for an unmanned vehicle from an air perspective by using the advantages of an unmanned aerial vehicle. The unmanned vehicle can obtain a larger-range terrain risk map in a field environment; meanwhile, terrain risk calculation results from different visual angles of the air-ground unmanned platform are accurately fused through a probability fusion method, a wider and more accurate terrain risk map is obtained, and the autonomous navigation capability of the unmanned vehicle in an off-road scene can be effectively improved. 本发明提供一种越野场景下空地无人平台协同连续风险地图构建方法，能够融合来自空地无人平台不同视角下的地形感知信息，利用无人机的优点从空中视角为无人车进行信息补充，使无人车在野外环境中能够获得更大范围地形风险地图；同时，本发明还通过概率融合的方法准确融合来自空地无人平台不同视角的地形风险计算结果，获得了更广阔、更准确的地形风险地图，能够有效提高无人车在越野场景中的自主导航能力。