Autonomous detection base station group oriented to enclosed space

The invention discloses an autonomous detection base station group oriented to enclosed space and belongs to the field of space environment detection. The autonomous detection base station group comprises four detection base stations capable of autonomously moving, wherein the coordinate of each detection base station relative to a space start point is known. After a detection program is started, the base stations start moving devices to successively move forwardly and timely move in a barrier-avoiding manner after collision detectors are in contact with barriers. After moving unit distance, the base stations perform mutual positioning and data communication by using ultra wide band radio modules and start gyro north finders to eliminate errors. In the meantime, the base stations start infrared thermal imagers, gas detectors, and CCD image sensors to sense spatial data and save the spatial data in industrial hard disks, thereby establishing a spatial state database. The autonomous detection base station group is suitable for environment detection of unknown enclosed space and autonomous target positioning and tracking in the enclosed environment.