基于扩展卡尔曼滤波算法的智能泊车航位推算研究

针对智能泊车系统对高精度车辆航位估计的要求,设计了基于轮速及方向盘转角信号的扩展卡尔曼滤波航位推算算法.离线仿真实验将本算法与传统航位推算算法进行了对比,结果显示本算法具有更高的精度；实车试验进一步验证了本算法的实际应用价值.

Research of the Intelligent Parking Dead Reckoning based on Extended Kalman Filter

An extended kalman filter(EKF)-based dead reckoning algorithm using signals of four wheel speed sensors and steering wheel sensor is designed,which meet the needs of high-accuracy vehicle position estimation for intelligent parking system.By comparing the estimation results with traditional algorithm,advantages of EKF-based algorithm is proved in offline simulation.Its value in practical use is further proved through real car experiments.