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本文对移动式机器人超声波信标导航系统的定位误差进行了分析。通过分析不同信标组合方式下定位误差的分布规律，提出对多信标导航系统采用“查表法”选择最佳导向信标，在不影响系统工作实时性的基础上可以提高系统的定位精度。
In this paper, the positioning error of mobile robot ultrasonic beacon navigation system is analyzed. By analyzing the distribution rules of positioning errors under different beacon combinations, this paper proposes to select the best guide beacon for multi-beacon navigation system using “look-up table method”, which can improve the system’s positioning accuracy without affecting the real-time performance of the system .