In this paper we propose ultra-wide band radio solution for indoor AGV positioning. Advantages over known solutions are described. Characteristics of the used ultra-wide band component base are given. Considered solution consists from anchors and tags. System operates with RTDoA method. Extended Kalman Filter algorithm is used to estimate the coordinates of the tag. Modified Extended Kalman Filter algorithm is obtained. It allows to eliminate erroneous measurements from solution. Result of the experiment are shown.
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