针对废墟内部环境震害形态特点,提出面向废墟环境的地图表示方法构建机制.采用基于拓扑米制混合地图的表达方法在不同层次描述废墟环境.算法利用全局拓扑地图组织整体结构确保系统计算能力、环境适用性和交互性,并在各拓扑节点区域创建局部米制地图,描述破坏形态形成的不规则障碍.通过废墟模拟环境进行实验,验证了该算法在复杂环境中的同步定位及地图创建能力,证明该算法在实际救援等领域具有可行性及有效性. Aiming at the characteristics of earthquake damage in the internal environment of the ruins, a construction method of the map representation method for the ruin environment is proposed.The expression of the mixed map based on the topological meters is used to describe the ruin environment at different levels.The algorithm uses the global topology map to organize the whole structure to ensure the system computing ability, Applicability and interactivity, and create a local metric map in each topology node area to describe the irregular obstacles which form the damage morphology.Experimental results show that the algorithm can synchronously locate in complex environment and create maps, The algorithm is feasible and effective in practical rescue and other fields.