融合惯性器件与哈克曼模型的倒车循迹定位法  

A Reverse Tracking and Positioning Method Integrating Inertial Sensors with the Harkman Model

作　　者：邢丽 邓一民 马小涵 XING Li;DENG Yimin;MA Xiaohan

机构地区：[1]上汽集团创新研究开发总院,上海201804

出　　处：《上海汽车》2025年第3期30-35,共6页Shanghai Auto

摘　　要：针对现有倒车循迹系统因定位精度低、环境适应性差导致的轨迹偏离问题,文章提出融合惯性传感器与哈克曼模型的定位方法。通过哈克曼模型拟合航向角增量与速度信息,修正惯性传感器位姿误差,试验表明该方法在50m范围内定位精度达35cm(1sigma),显著优于传统技术,有效提升自主倒车可靠性。Aiming at the trajectory deviation problem caused by low positioning accuracy and environmental adaptability of existing reverse parking systems,a positioning method integrating inertial sensors with the Hackmann model is proposed.By fitting the heading angle increment and velocity information with the Hackmann model to correct the pose error of the inertial sensors,the method achieves a positioning accuracy of 35 cm(1 sigma)within a range of 50 m,which is significantly better than traditional technologies and effectively improves the reliability of autonomous reversing parking.

关 键 词：航位推算 倒车循迹 哈克曼模型 惯性传感器 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] U463.6[自动化与计算机技术—控制科学与工程]