BIM-Constrained Elastic Fusion Navigation Framework for UAV Bridge Inspection Under Intermittent GNSS Outage

Abstract

UAV bridge inspection requires centimeter-level global positioning in the engineering coordinate frame to associate detected defects with BIM component IDs and mileage stakes. Intermittent GNSS outages beneath beams, inside box girders, and in pier-dense regions cause conventional navigation methods to accumulate drift or produce discontinuous pose estimates. This paper presents BCEF-Nav, a BIM-constrained elastic fusion navigation framework for UAV bridge inspection. The framework adaptively adjusts GNSS constraints according to signal availability and replaces degraded GNSS references with semantic–geometric constraints from a high-precision as-built BIM model within a sliding-window optimizer. Semantic-guided feature matching suppresses false correspondences in repetitive bridge structures. BCEF-Nav uses only low-cost commercial sensors and is compatible with mainstream inspection UAVs. Digital twin simulations and field experiments achieved an ATE RMSE of 5.7 cm after 120 s of complete GNSS occlusion and a 100% positioning success rate with positioning errors below 10 cm, outperforming seven recent state-of-the-art baselines.