Kinematics principle of flow sensor positioning system is introduced in detail; theoretical model derivation is given; based on theoretical model

experimental device based on optical flow sensor is set up.Three sensors are set in fixed position of mobile robot. Through Kinematics geometry relation

pose of robot is resolved. Navigation experiment of mobile robot is carried out in indoor

predicted trajectory of robot is reckoned. Feasibility of theory is proved by experiment

and it can be a navigation scheme for short-distance positioning.