中文摘要：

针对自主导引车（AGV）的已有导引方式灵活性差和精度低等问题,提出使用超声波雷达传感器实现AGV自主导航并设置合理的导航模型参数.分别建立AGV的运动学模型和传感器的观测模型,为了表征实际的系统误差,基于一致性检测原理为过程模型和观测模型添加乘性或加性噪声.仿真结果表明：设置适当的噪声参数大小,可以实现AGV沿基准路线的自主导航运动.

英文摘要：

Aiming at poor flexibility and low precision of navigation mode in autonomous guided vehicle （AGV） system, propose employing ultrasonic wave radar sensor to realize autonomous navigation of AGV is proposed, and also set up reasonable parameters of navigation models. Kinematics model of AGV and observation model of sensor are established respectively, by adding multiplicative or addictive noise to process and observation models based on principle of consistency test, in order to reflect real system errors. Simulation results demonstrate that autonomous navigation movement of AGV along standard routine can be achieved by setting reasonable noise parameters.