煤矿井下空间测量是煤矿透明地质建模的重要组成，然而煤矿巷道环境复杂、信息获取不全、感知数据精度不足等难题亟待解决。

首先，深入研究粉尘、水雾、围岩结构等复杂环境因素下毫米波雷达信号特性，建立煤矿巷道围岩毫米波信号衰减模型，对比分析复杂环境因素毫米波雷达的影响机理。其次，针对煤矿复杂环境下毫米波雷达的巷道数字建模问题，提出巷道空间毫米波雷达点云泊松表面重建方法。通过实验测试与模拟巷道环境验证，在揭示煤矿复杂环境条件下的毫米波雷达感知机理基础上，实现了煤矿巷道空间测量与数字建模重构。

结果表明：(1)毫米波雷达能够适应煤矿井下多粉尘、多水雾、围岩粗糙的巷道环境，为煤矿巷道空间重建提供有效数据。(2)泊松表面重建方法能够充分展示真实巷道围岩信息，重建巷道整体宽度的平均绝对误差百分比为0.59%，巷道整体高度的平均绝对误差百分比为0.78%。煤矿复杂环境下毫米波雷达空间测量特性与重建方法的研究，为煤矿井下透明地质建模提供巷道空间测量数据，对推动煤矿智能开采具有重要意义。

Underground spatial surveying of coal mine is an important part of transparent geological modelling for coal mine. However, the complex environment of coal mine roadway, incomplete information acquisition, insufficient accuracy of sensed data and other difficulties need to be urgently solved.

First, the signal characteristics of millimeter wave radar under the complex environmental factors such as dust, water mist, surrounding rock structure, etc. were studied in depth, the millimeter wave signal attenuation model was established for the surrounding rock of coal mine roadway, and the influence mechanism of complex environmental factors for millimeter wave radar was comparatively analyzed. Second, in view of the problem of millimeter wave radar based digital roadway modelling in the complex environment of coal mine, the Poisson surface reconstruction method based on millimeter wave radar point cloud for the roadway space was proposed. Through experimental tests and simulated roadway environment verification, the spatial surveying and digital modelling reconstruction of the coal mine roadway was achieved on the basis of revealing the millimetre-wave radar sensing mechanism under the complex environmental conditions of the coal mine.

The results show that: (1) The millimetre-wave radar could adapt to the underground coal mine roadway environment with a lot of dust, water mist and rough surrounding rock, and provide effective data for the spatial reconstruction of the coal mine roadway. (2) The Poisson surface reconstruction method could fully display the real information on surrounding rock of roadway, and the average absolute error percentage is 0.59% for the reconstructed total roadway width, and 0.78% for the total roadway height. Generally, the study of millimeter-wave radar spatial surveying characteristics and reconstruction methods in the complex environment of coal mines provides the spatial surveying data of roadway for transparent geological modelling of coal mines, which is of great significance in promoting the intelligent mining of coal mines.