Research of AGV Positioning and Navigation System Based on UWB

In order to solve the problem that goods handling which need manual transportation between different production workshops indoors and outdoors, to achieve cross-workshop automatic handling of goods. STM32F103ZET6 is used as the main control chip, DW1000 is used as the UWB RF positioning module, and AHRS-3000 is used as the inertial measurement unit. The time-based wireless positioning principle combined with the least square estimation method is used to obtain the UWB positioning data, and the Kalman filter algorithm is used to fuse the UWB measurement data and IMU calculation data to realize the integrated positioning navigation. The experimental results show that the positioning error of UWB is less than 75mm in the static condition, and the positioning measurement error based on UWB/IMU data fusion is less than 75mm in the dynamic condition. The positioning and navigation system has a good positioning and navigation effect, which is of great significance to the automation and intelligentization of factory handling.