LiDAR-based optimization of UWB anchor deployment in tunnel environments

The rapid advancement of intelligent transportation infrastructure and the increasing digitization of underground engineering have heightened the demand for high-precision, real-time positioning technologies in tunnel environments. Ultra-Wideband (UWB) technology, characterized by its wide bandwidth and low power consumption, has emerged as a promising solution for tunnel localization. However, traditional UWB deployment methods face significant challenges in such environments, including complex geometries, dynamic device configurations, and signal degradation due to wall reflections—factors that collectively degrade positioning accuracy. To address these limitations, this paper proposes an optimization framework based on the collaborative deployment of Light Detection and Ranging (LiDAR) and UWB technologies. Leveraging Simultaneous Localization and Mapping (SLAM), the framework constructs a high-precision tunnel point cloud model, performs curvature analysis to identify key environmental features, and applies clustering algorithms to generate an initial anchor deployment scheme. Furthermore, we introduce a decomposed Weighted Position Dilution of Precision (WPDOP) calculation method specifically tailored for tunnel scenarios, integrated with an enhanced simulated annealing algorithm to refine anchor placement. Experimental results demonstrate that, compared to conventional empirical deployment strategies, the proposed approach reduces WPDOP by over 30%, significantly enhancing positioning accuracy and system robustness while adhering to cost constraints.