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.