基于超声波与IMU融合的倒车测距算法

Ranging Algorithm Based on Ultrasonic and IMU Sensors

为实现精确测距,降低驾驶员倒车过程的难度,基于超声波与惯性测量单元(inertial measurement unit,IMU)的倒车测距方案,设计一种最大似然法与卡尔曼滤波相结合的超声波与IMU融合算法,并对融合算法进行分析和试验验证,证实该算法比单一超声波传感器具有更高的可靠性和精确度。

In order to reduce the difficulty of the driver′s reversing process and achieve accurate ranging, a reversing ranging method based on ultrasonic and IMU sensors was proposed. An "ultrasonic and IMU fusion algorithm" was developed by combining maximum likelihood method and Kalman filtering. The experimental verification and analysis of the fusion algorithm proves that this algorithm has better reliability and accuracy than the single ultrasonic sensor.