基于微分几何中李群、李代数、齐次空间等理论对混合自动定位包容问题进行了形式化描述，并利用齐次空间的几何特性，使复杂的混合定位问题分解成对称工件定位和包容两个独立的问题。介绍了解混合定位包容问题的算法。仿真试验结果表明该算法速度快、精度高和鲁棒性好。 Based on the theory of Lie group, Lie algebra and homogeneous space in differential geometry, the hybrid automatic positioning tolerance problem is formally described. By using the geometric properties of homogeneous space, the complex hybrid positioning problem can be decomposed into symmetrical work piece positioning and tolerance two A separate question. Introduce algorithms for understanding hybrid inclusion and inclusion problems. Simulation results show that the algorithm is fast, accurate and robust.